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trainer_config.yaml
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trainer_config.yaml
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behaviors:
WalkerTripod:
trainer_type: ppo
hyperparameters:
batch_size: 1024
buffer_size: 65536 # 8 envs x 8 agents x 1024
learning_rate: 0.0003
beta: 0.01
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: false
hidden_units: 256
num_layers: 2
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.99
strength: 1.0
gail:
strength: 0.01
gamma: 0.99
encoding_size: 128
demo_path: Assets/ML/Demos/WalkerTripod.demo
behavioral_cloning:
demo_path: Assets/ML/Demos/WalkerTripod.demo
strength: 0.5
steps: 150000
keep_checkpoints: 10
max_steps: 15e6
time_horizon: 256
summary_freq: 10000
threaded: true
WalkerRipple:
trainer_type: ppo
hyperparameters:
batch_size: 1024
buffer_size: 65536 # 8 envs x 8 agents x 1024
learning_rate: 0.0003
beta: 0.01
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: false
hidden_units: 256
num_layers: 2
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.99
strength: 1.0
gail:
strength: 0.01
gamma: 0.99
encoding_size: 128
demo_path: Assets/ML/Demos/WalkerRipple.demo
behavioral_cloning:
demo_path: Assets/ML/Demos/WalkerRipple.demo
strength: 0.5
steps: 150000
keep_checkpoints: 10
max_steps: 15e6
time_horizon: 256
summary_freq: 10000
threaded: true
Searcher:
trainer_type: ppo
hyperparameters:
batch_size: 1024
buffer_size: 100352 # 2 envs x 49 agents x 1024
learning_rate: 0.0003
beta: 0.01
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: false
hidden_units: 256
num_layers: 1
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.99
strength: 1.0
keep_checkpoints: 10
max_steps: 10e6
time_horizon: 1000
summary_freq: 10000
threaded: true