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owm-rl-baselines

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duncaneddy commited on
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Upload RL run owm-iss-numerical-v1-noncoop-terminal-ppo-vector

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Files changed (5) hide show
  1. rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/config.yaml +174 -0
  2. rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/env_config.yaml +153 -0
  3. rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/final_model.zip +3 -0
  4. rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/promotion.yaml +24 -0
  5. rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/vecnormalize.pkl +3 -0
rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/config.yaml ADDED
@@ -0,0 +1,174 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ environments:
2
+ env_name: iss-numerical
3
+ dt: 1.0
4
+ max_steps: 360
5
+ max_range_m: 750.0
6
+ render_view: DRAGON_FPV
7
+ physics:
8
+ mass: 12000.0
9
+ inertia_diag:
10
+ - 80000.0
11
+ - 80000.0
12
+ - 50000.0
13
+ linear_damping: 0.0
14
+ angular_damping: 0.0
15
+ dragon_collision_radius_m: 2.25
16
+ collision_boxes_path: collision_boxes.yaml
17
+ control:
18
+ limit_force_n: 1600.0
19
+ limit_torque_nm: 2000.0
20
+ dock:
21
+ position:
22
+ - 0.225
23
+ - -24.5
24
+ - -2.5
25
+ quaternion:
26
+ - 0.7071068
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+ - -0.7071068
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+ - 0.0
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+ - 0.0
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+ enabled: true
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+ max_distance_m: 0.1
32
+ max_velocity_m_s: 0.5
33
+ max_attitude_error_deg: 5.0
34
+ max_body_rate_rad_s: 0.008727
35
+ ports:
36
+ - harmony_fwd_pma2
37
+ - harmony_nadir_cbm
38
+ - zvezda_aft
39
+ - pirs_nadir
40
+ - rassvet_nadir
41
+ orbit:
42
+ epoch: '2026-08-01T00:00:00Z'
43
+ epoch_offset_range_s:
44
+ - 0.0
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+ - 5400.0
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+ start_radius_range_m:
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+ - 100.0
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+ - 125.0
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+ start_speed_max_m_s: 0.0
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+ start_attitude_error_max_deg: 0.0
51
+ start_rate_max_rad_s: 0.0
52
+ perturbations:
53
+ zonal_max_degree: 4
54
+ third_body_sun: true
55
+ third_body_moon: true
56
+ drag: true
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+ sensor_noise:
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+ enabled: true
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+ sigma_pos_m: 0.0
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+ sigma_pos_frac_of_range: 0.01
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+ sigma_vel_m_s: 0.03
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+ sigma_att_rad: 5.0e-05
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+ sigma_rate_rad_s: 1.0e-05
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+ observation:
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+ goal_error: true
66
+ mode: relative
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+ reward_weights:
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+ position: -0.9
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+ velocity: -0.05
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+ attitude: -0.2
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+ body_rate: -0.02
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+ collision: -2.0
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+ dock_success: 1000.0
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+ escape: -1000.0
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+ progress: -2.0
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+ proximity: 0.5
77
+ alignment: 0.5
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+ effort: -0.05
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+ reward_shaping:
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+ position_delta_m: 1.0
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+ position_scale_m: 225.0
82
+ velocity_delta_m_s: 0.1
83
+ velocity_scale_m_s: 5.0
84
+ attitude_delta_rad: 0.05
85
+ attitude_scale_rad: 3.141592653589793
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+ rate_delta_rad_s: 0.005
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+ rate_scale_rad_s: 0.05
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+ rotation_gate_far: 0.5
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+ rotation_gate_range_m: 25.0
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+ proximity_scale_m: 1.0
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+ alignment_attitude_scale_rad: 0.1
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+ collision_terminates: false
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+ rl:
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+ algo: ppo
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+ n_envs: 32
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+ vec: subproc
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+ total_timesteps: 25000000
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+ device: cpu
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+ obs: vector
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+ obs_resnet:
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+ variant: resnet18
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+ layer: avgpool
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+ image_size: 224
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+ device: null
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+ action_repeat: 1
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+ norm_reward: false
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+ checkpoint:
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+ save_freq: 2500000
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+ hyperparams:
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+ n_steps: 1024
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+ batch_size: 1024
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+ learning_rate: 0.00021578468144928557
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+ gamma: 0.997
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+ gae_lambda: 0.9453223308741135
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+ ent_coef: 0.001
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+ clip_range: 0.1
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+ n_epochs: 20
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+ target_kl: 0.02
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+ vf_coef: 0.6666451279183626
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+ policy_kwargs:
121
+ net_arch:
122
+ - 256
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+ - 256
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+ - 256
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+ logging:
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+ entity: duncan-world-models
127
+ project: amos-out-of-this-world-model
128
+ mode: online
129
+ tags: []
130
+ run_name: ppo_25M_near_noncoop_terminal
131
+ run_dir: runs/ppo_25M_near_noncoop_terminal
132
+ resume: false
133
+ seed: 0
134
+ extend_timesteps: null
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+ external_wandb: false
136
+ val:
137
+ enabled: true
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+ every_steps: 50000
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+ episodes: 3
140
+ video_episodes: 1
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+ max_frames: 1200
142
+ hub:
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+ upload: true
144
+ repo_id: sislaboratory/owm-rl-baselines
145
+ eval:
146
+ checkpoint: null
147
+ episodes: 20
148
+ deterministic: true
149
+ video_path: null
150
+ allow_unnormalized: false
151
+ eval_matrix:
152
+ checkpoint: null
153
+ run_dir: null
154
+ ports: all
155
+ trials: 50
156
+ seed: 100000
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+ rate_hz: null
158
+ action_repeat: 1
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+ criteria:
160
+ - position
161
+ - position_velocity
162
+ - full
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+ tolerances_m:
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+ - 0.1
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+ - 0.2
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+ - 0.5
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+ - 1.0
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+ - 2.0
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+ - 5.0
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+ - 10.0
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+ n_envs: 10
172
+ vec: subproc
173
+ out_dir: null
174
+ allow_unnormalized: false
rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/env_config.yaml ADDED
@@ -0,0 +1,153 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ dt: 1.0
2
+ max_steps: 360
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+ max_range_m: 750.0
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+ collision_terminates: false
5
+ physics:
6
+ mass: 12000.0
7
+ inertia_diag:
8
+ - 80000.0
9
+ - 80000.0
10
+ - 50000.0
11
+ linear_damping: 0.0
12
+ angular_damping: 0.0
13
+ dragon_collision_radius_m: 2.25
14
+ start_radius_range_m:
15
+ - 100.0
16
+ - 500.0
17
+ collision_boxes_path: collision_boxes.yaml
18
+ control:
19
+ limit_force_n: 1600.0
20
+ limit_torque_nm: 2000.0
21
+ dock:
22
+ position:
23
+ - 0.225
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+ - -24.5
25
+ - -2.5
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+ quaternion:
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+ - 0.7071068
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+ - -0.7071068
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+ - 0.0
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+ - 0.0
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+ enabled: true
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+ max_distance_m: 0.1
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+ max_velocity_m_s: 0.5
34
+ max_attitude_error_deg: 5.0
35
+ max_body_rate_rad_s: 0.008727
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+ ports:
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+ - name: harmony_fwd_pma2
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+ position:
39
+ - 0.194
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+ - -24.5
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+ - -3.336
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+ quaternion:
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+ - 0.7071067690849304
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+ - -0.7071067690849304
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+ - -0.0
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+ - 0.0
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+ - name: harmony_nadir_cbm
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+ position:
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+ - 0.233
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+ - -14.939
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+ - -9.985
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+ quaternion:
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+ - -0.0
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+ - -0.0
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+ - 0.0
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+ - 1.0
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+ - name: zvezda_aft
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+ position:
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+ - 0.233
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+ - 38.55
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+ - -1.87
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+ quaternion:
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+ - -0.0
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+ - 0.0
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+ - 0.7071067690849304
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+ - -0.7071067690849304
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+ - name: pirs_nadir
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+ position:
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+ - 0.233
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+ - 20.129
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+ - -12.79
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+ quaternion:
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+ - -0.0
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+ - -0.0
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+ - 0.0
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+ - 1.0
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+ - name: rassvet_nadir
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+ position:
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+ - 0.24
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+ - 7.161
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+ - -14.767
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+ quaternion:
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+ - -0.0
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+ - -0.0
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+ - 0.0
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+ - 1.0
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+ sensor_noise:
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+ enabled: true
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+ sigma_pos_m: 0.0
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+ sigma_pos_frac_of_range: 0.01
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+ sigma_vel_m_s: 0.03
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+ sigma_att_rad: 5.0e-05
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+ sigma_rate_rad_s: 1.0e-05
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+ observation:
95
+ goal_error: true
96
+ mode: relative
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+ reward_weights:
98
+ position: -0.9
99
+ velocity: -0.05
100
+ attitude: -0.2
101
+ body_rate: -0.02
102
+ collision: -2.0
103
+ dock_success: 1000.0
104
+ escape: -1000.0
105
+ progress: -2.0
106
+ proximity: 0.5
107
+ alignment: 0.5
108
+ effort: -0.05
109
+ reward_shaping:
110
+ position_delta_m: 1.0
111
+ position_scale_m: 225.0
112
+ velocity_delta_m_s: 0.1
113
+ velocity_scale_m_s: 5.0
114
+ attitude_delta_rad: 0.05
115
+ attitude_scale_rad: 3.141592653589793
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+ rate_delta_rad_s: 0.005
117
+ rate_scale_rad_s: 0.05
118
+ rotation_gate_far: 0.5
119
+ rotation_gate_range_m: 25.0
120
+ proximity_scale_m: 1.0
121
+ alignment_attitude_scale_rad: 0.1
122
+ reward_goal_position: null
123
+ render_view: DRAGON_FPV
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+ render: null
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+ orbit:
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+ epoch: '2026-08-01T00:00:00Z'
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+ sma_m: 6795000.0
128
+ ecc: 0.0005
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+ inc_deg: 51.64
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+ raan_deg: 0.0
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+ argp_deg: 0.0
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+ mean_anomaly_deg: 0.0
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+ epoch_offset_range_s:
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+ - 0.0
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+ - 5400.0
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+ start_radius_range_m:
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+ - 100.0
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+ - 125.0
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+ start_speed_max_m_s: 0.0
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+ start_attitude_error_max_deg: 0.0
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+ start_rate_max_rad_s: 0.0
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+ perturbations:
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+ zonal_max_degree: 4
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+ third_body_sun: true
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+ third_body_moon: true
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+ drag: true
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+ chief_mass_kg: 419700.0
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+ chief_ballistic:
149
+ area_m2: 1500.0
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+ cd: 2.2
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+ chaser_ballistic:
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+ area_m2: 50.0
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+ cd: 2.2
rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/final_model.zip ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:118d5c010833acb70424cfc05d1ae98de493598ec5537515e35d41c987eb8163
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+ size 3400551
rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/promotion.yaml ADDED
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+ name: owm-iss-numerical-v1-noncoop-terminal-ppo-vector
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+ policy:
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+ algo: ppo
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+ obs: vector
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+ env: iss-numerical
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+ dt_s: 1.0
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+ train_ports:
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+ - harmony_fwd_pma2
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+ - harmony_nadir_cbm
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+ - zvezda_aft
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+ - pirs_nadir
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+ - rassvet_nadir
13
+ timesteps: 25000000
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+ run: ppo_25M_near_noncoop_terminal
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+ source: runs/ppo_25M_near_noncoop_terminal/checkpoints/model_7500000_steps.zip
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+ step: 7500000
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+ from_finals: false
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+ criterion: val_return
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+ window: 1250000
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+ scores:
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+ val_return: 58.715167907177786
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+ train_return: -65.44462457142859
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+ min_pos: 4.567768662717165
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+ wandb: https://wandb.ai/duncan-world-models/amos-out-of-this-world-model/runs/s31jpzmf
rl/best/owm-iss-numerical-v1-noncoop-terminal-ppo-vector/vecnormalize.pkl ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:203824cf6378ff9271a56a5fc637fb89a80e0db85691d4b933ae46477000fa22
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+ size 6380