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num_steps_per_env: 24
max_iterations: 5000
obs_groups:
actor: !!python/tuple
- actor
critic: !!python/tuple
- critic
save_interval: 100
experiment_name: yam_lift_cube
run_name: ''
logger: wandb
wandb_project: mjlab
wandb_tags: !!python/tuple []
resume: false
load_run: .*
load_checkpoint: model_.*.pt
clip_actions: null
upload_model: true
class_name: OnPolicyRunner
actor:
hidden_dims: !!python/tuple
- 512
- 256
- 128
activation: elu
obs_normalization: true
cnn_cfg: null
distribution_cfg:
class_name: GaussianDistribution
init_std: 1.0
std_type: scalar
rnn_type: null
rnn_hidden_dim: 256
rnn_num_layers: 1
class_name: MLPModel
critic:
hidden_dims: !!python/tuple
- 512
- 256
- 128
activation: elu
obs_normalization: true
cnn_cfg: null
distribution_cfg: null
rnn_type: null
rnn_hidden_dim: 256
rnn_num_layers: 1
class_name: MLPModel
algorithm:
num_learning_epochs: 5
num_mini_batches: 4
learning_rate: 0.001
schedule: adaptive
gamma: 0.99
lam: 0.95
entropy_coef: 0.005
desired_kl: 0.01
max_grad_norm: 1.0
value_loss_coef: 1.0
use_clipped_value_loss: true
clip_param: 0.2
normalize_advantage_per_mini_batch: false
optimizer: adam
share_cnn_encoders: false
class_name: PPO
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