Initial commit
Browse files- README.md +37 -0
- a2c-PandaReachDense-v3.zip +3 -0
- a2c-PandaReachDense-v3/_stable_baselines3_version +1 -0
- a2c-PandaReachDense-v3/data +111 -0
- a2c-PandaReachDense-v3/policy.optimizer.pth +3 -0
- a2c-PandaReachDense-v3/policy.pth +3 -0
- a2c-PandaReachDense-v3/pytorch_variables.pth +3 -0
- a2c-PandaReachDense-v3/system_info.txt +9 -0
- config.json +1 -0
- replay.mp4 +0 -0
- results.json +1 -0
- vec_normalize.pkl +3 -0
README.md
ADDED
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
---
|
2 |
+
library_name: stable-baselines3
|
3 |
+
tags:
|
4 |
+
- PandaReachDense-v3
|
5 |
+
- deep-reinforcement-learning
|
6 |
+
- reinforcement-learning
|
7 |
+
- stable-baselines3
|
8 |
+
model-index:
|
9 |
+
- name: A2C
|
10 |
+
results:
|
11 |
+
- task:
|
12 |
+
type: reinforcement-learning
|
13 |
+
name: reinforcement-learning
|
14 |
+
dataset:
|
15 |
+
name: PandaReachDense-v3
|
16 |
+
type: PandaReachDense-v3
|
17 |
+
metrics:
|
18 |
+
- type: mean_reward
|
19 |
+
value: -0.24 +/- 0.11
|
20 |
+
name: mean_reward
|
21 |
+
verified: false
|
22 |
+
---
|
23 |
+
|
24 |
+
# **A2C** Agent playing **PandaReachDense-v3**
|
25 |
+
This is a trained model of a **A2C** agent playing **PandaReachDense-v3**
|
26 |
+
using the [stable-baselines3 library](https://github.com/DLR-RM/stable-baselines3).
|
27 |
+
|
28 |
+
## Usage (with Stable-baselines3)
|
29 |
+
TODO: Add your code
|
30 |
+
|
31 |
+
|
32 |
+
```python
|
33 |
+
from stable_baselines3 import ...
|
34 |
+
from huggingface_sb3 import load_from_hub
|
35 |
+
|
36 |
+
...
|
37 |
+
```
|
a2c-PandaReachDense-v3.zip
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:c5d343d59f89c5ea6670dd82a74d56e6506401e97bdb61ded08e997fedf797c5
|
3 |
+
size 171824
|
a2c-PandaReachDense-v3/_stable_baselines3_version
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
2.2.1
|
a2c-PandaReachDense-v3/data
ADDED
@@ -0,0 +1,111 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"policy_class": {
|
3 |
+
":type:": "<class 'abc.ABCMeta'>",
|
4 |
+
":serialized:": "gAWVRQAAAAAAAACMIXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5wb2xpY2llc5SMG011bHRpSW5wdXRBY3RvckNyaXRpY1BvbGljeZSTlC4=",
|
5 |
+
"__module__": "stable_baselines3.common.policies",
|
6 |
+
"__doc__": "\n MultiInputActorClass policy class for actor-critic algorithms (has both policy and value prediction).\n Used by A2C, PPO and the likes.\n\n :param observation_space: Observation space (Tuple)\n :param action_space: Action space\n :param lr_schedule: Learning rate schedule (could be constant)\n :param net_arch: The specification of the policy and value networks.\n :param activation_fn: Activation function\n :param ortho_init: Whether to use or not orthogonal initialization\n :param use_sde: Whether to use State Dependent Exploration or not\n :param log_std_init: Initial value for the log standard deviation\n :param full_std: Whether to use (n_features x n_actions) parameters\n for the std instead of only (n_features,) when using gSDE\n :param use_expln: Use ``expln()`` function instead of ``exp()`` to ensure\n a positive standard deviation (cf paper). It allows to keep variance\n above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n :param squash_output: Whether to squash the output using a tanh function,\n this allows to ensure boundaries when using gSDE.\n :param features_extractor_class: Uses the CombinedExtractor\n :param features_extractor_kwargs: Keyword arguments\n to pass to the features extractor.\n :param share_features_extractor: If True, the features extractor is shared between the policy and value networks.\n :param normalize_images: Whether to normalize images or not,\n dividing by 255.0 (True by default)\n :param optimizer_class: The optimizer to use,\n ``th.optim.Adam`` by default\n :param optimizer_kwargs: Additional keyword arguments,\n excluding the learning rate, to pass to the optimizer\n ",
|
7 |
+
"__init__": "<function MultiInputActorCriticPolicy.__init__ at 0x780c8bac3130>",
|
8 |
+
"__abstractmethods__": "frozenset()",
|
9 |
+
"_abc_impl": "<_abc._abc_data object at 0x780c8bac59c0>"
|
10 |
+
},
|
11 |
+
"verbose": 1,
|
12 |
+
"policy_kwargs": {},
|
13 |
+
"num_timesteps": 1048576,
|
14 |
+
"_total_timesteps": 1000000,
|
15 |
+
"_num_timesteps_at_start": 0,
|
16 |
+
"seed": null,
|
17 |
+
"action_noise": null,
|
18 |
+
"start_time": 1701932706061810302,
|
19 |
+
"learning_rate": 0.001,
|
20 |
+
"tensorboard_log": null,
|
21 |
+
"_last_obs": {
|
22 |
+
":type:": "<class 'collections.OrderedDict'>",
|
23 |
+
":serialized:": "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",
|
24 |
+
"achieved_goal": "[[-0.5880166 -1.1176624 -0.57199216]\n [ 0.23356108 -0.01039266 1.1074235 ]\n [ 1.0298363 0.9673555 1.3441365 ]\n [ 0.67960966 -0.35491252 0.49080014]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.00704598 -0.07348655 -0.82301456]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-0.14065012 0.18958811 0.41832712]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.5712087 -0.6053157 -0.21565622]\n [-1.7056764 1.1831995 1.0714604 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-0.3521595 0.18775119 0.5380154 ]\n [-0.03954854 0.18891817 0.25590166]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-0.8809512 -0.86452043 -1.2173691 ]\n [-0.5296123 -0.9843069 -0.08518658]\n [-1.0596045 -0.19922388 -0.7764529 ]\n [-0.40931585 -0.06238519 -0.3039439 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.77551866 0.26798078 0.6604296 ]\n [ 0.91426384 1.1047373 -0.47617528]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-1.4953308 -0.67784077 0.424706 ]\n [-1.3741199 -0.96416134 1.0811176 ]\n [ 0.38486043 0.01168181 1.265994 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.8940774 0.5935585 -1.0416113 ]\n [ 0.7097539 -0.6106161 0.47198853]\n [-1.0344838 -0.2088511 0.558029 ]]",
|
25 |
+
"desired_goal": "[[-0.15814523 -1.2812926 -1.7338904 ]\n [ 1.0019664 1.6585917 0.71330166]\n [ 1.1319112 1.5773536 0.6356005 ]\n [ 1.1036464 -1.0015918 -0.6198027 ]\n [ 1.6105556 0.40827328 -0.07683814]\n [ 0.31283632 0.14742738 -1.7033874 ]\n [ 0.5021568 0.09986632 -0.59065384]\n [-0.1065034 0.7667169 0.19301094]\n [-0.9869198 0.690854 -0.7688379 ]\n [ 0.7336276 -0.4085334 -1.4697455 ]\n [-1.3282917 1.3204693 0.3030797 ]\n [-0.2592755 0.8235314 -1.6978061 ]\n [-0.68852836 0.9992637 0.04026895]\n [-0.38920593 1.4739298 -0.889785 ]\n [-1.3736767 0.71849495 -1.6673933 ]\n [-0.547601 -1.288213 -1.7811426 ]\n [-0.15844287 -1.146807 -1.2816783 ]\n [-1.0614783 0.35657844 -1.5055143 ]\n [-0.62769145 0.12644449 -1.5476773 ]\n [ 0.93892837 -0.23092346 0.57507926]\n [ 1.5851208 0.52393574 -0.8732381 ]\n [ 1.5740321 0.82946426 -1.2121978 ]\n [-0.17559725 1.2125391 -0.9773786 ]\n [-1.5260708 -0.5242966 -0.2793176 ]\n [-1.5491866 -0.7678128 1.3012393 ]\n [ 0.40614074 0.54202515 1.4261842 ]\n [ 1.6189284 1.6048032 0.9374489 ]\n [-1.2916341 0.2886998 1.2536975 ]\n [-1.0515951 -0.7666763 -1.1757147 ]\n [ 0.6274029 0.96188253 -1.1212184 ]\n [ 1.5371077 -0.65940994 -0.4201868 ]\n [-1.4276477 -0.295499 -0.26832977]]",
|
26 |
+
"observation": "[[-0.5880166 -1.1176624 -0.57199216 -2.20478 -1.6179795 -1.642291 ]\n [ 0.23356108 -0.01039266 1.1074235 0.28890595 1.757011 1.6086402 ]\n [ 1.0298363 0.9673555 1.3441365 0.9758704 -1.776168 0.78654385]\n [ 0.67960966 -0.35491252 0.49080014 0.9199512 -1.9064503 -1.7049423 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.00704598 -0.07348655 -0.82301456 -1.34135 0.04641961 -1.5015445 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-0.14065012 0.18958811 0.41832712 -1.0718333 2.0613487 -0.44034344]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.5712087 -0.6053157 -0.21565622 -0.10839061 -0.23785707 -2.2436695 ]\n [-1.7056764 1.1831995 1.0714604 -0.5483819 0.61416346 0.52114993]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-0.3521595 0.18775119 0.5380154 -1.1947322 2.0022717 0.7569618 ]\n [-0.03954854 0.18891817 0.25590166 -2.3974507 1.9913687 -2.0429127 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-0.8809512 -0.86452043 -1.2173691 -0.14797387 0.29059887 0.41473967]\n [-0.5296123 -0.9843069 -0.08518658 -1.1622665 -1.2301571 -0.70818925]\n [-1.0596045 -0.19922388 -0.7764529 -1.0713946 -1.1758118 -1.6364795 ]\n [-0.40931585 -0.06238519 -0.3039439 -0.9221058 0.3390223 -1.5352485 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.77551866 0.26798078 0.6604296 0.89225465 -0.70461875 0.33689365]\n [ 0.91426384 1.1047373 -0.47617528 -0.52764034 1.1651331 -1.6465136 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-1.4953308 -0.67784077 0.424706 -2.0122886 -0.07918105 -1.7614126 ]\n [-1.3741199 -0.96416134 1.0811176 -0.24892563 -2.150869 1.786904 ]\n [ 0.38486043 0.01168181 1.265994 0.6179116 1.4319359 0.9976452 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.8940774 0.5935585 -1.0416113 0.8528485 0.8956399 1.7465918 ]\n [ 0.7097539 -0.6106161 0.47198853 0.91115326 -1.6325845 0.32099986]\n [-1.0344838 -0.2088511 0.558029 -1.7551196 -1.9186469 -1.4246302 ]]"
|
27 |
+
},
|
28 |
+
"_last_episode_starts": {
|
29 |
+
":type:": "<class 'numpy.ndarray'>",
|
30 |
+
":serialized:": "gAWVkwAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYgAAAAAAAAAAAAAAABAAEAAQAAAQAAAQAAAAABAAABAAAAAQEBAAAAlIwFbnVtcHmUjAVkdHlwZZSTlIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksghZSMAUOUdJRSlC4="
|
31 |
+
},
|
32 |
+
"_last_original_obs": {
|
33 |
+
":type:": "<class 'collections.OrderedDict'>",
|
34 |
+
":serialized:": "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",
|
35 |
+
"achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]]",
|
36 |
+
"desired_goal": "[[-0.14581306 0.00986536 0.04396097]\n [-0.10233594 0.0283022 0.19242786]\n [-0.07527363 0.04997215 0.2412731 ]\n [ 0.04314129 0.10178021 0.08480414]\n [ 0.04396257 0.1297511 0.29727656]\n [-0.14482877 -0.1113321 0.00249028]\n [ 0.13042708 -0.12632719 0.16789094]\n [-0.04265981 -0.13349009 0.09051029]\n [-0.08988568 0.05761744 0.22201696]\n [-0.1329784 -0.0761321 0.1031149 ]\n [ 0.03968814 0.05666218 0.25228623]\n [ 0.10021628 -0.07780676 0.23622368]\n [-0.0415734 0.03270615 0.06526873]\n [-0.10955649 0.07791857 0.02918381]\n [ 0.04914758 0.07787645 0.28592044]\n [ 0.11969861 0.12605119 0.29211184]\n [-0.00757686 -0.1048865 0.05245497]\n [ 0.07447539 -0.05980471 0.1640441 ]\n [-0.09274167 0.03240501 0.07352907]\n [ 0.11460351 -0.12485413 0.19859771]\n [ 0.14094058 0.12297832 0.08107147]\n [ 0.14437237 -0.08969233 0.26154104]\n [ 0.1380235 -0.05005985 0.15140092]\n [ 0.11447798 -0.04470129 0.26743597]\n [-0.0466431 -0.01683203 0.01489295]\n [ 0.05777196 0.05355849 0.26646003]\n [ 0.08198604 0.05489867 0.15123747]\n [ 0.06996942 0.02641423 0.13274655]\n [ 0.01017045 -0.14641757 0.03817287]\n [-0.02724356 -0.06135538 0.2973529 ]\n [ 0.12859952 -0.02031418 0.24148628]\n [-0.09217758 0.03637213 0.11162214]]",
|
37 |
+
"observation": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]]"
|
38 |
+
},
|
39 |
+
"_episode_num": 0,
|
40 |
+
"use_sde": false,
|
41 |
+
"sde_sample_freq": -1,
|
42 |
+
"_current_progress_remaining": -0.04857599999999995,
|
43 |
+
"_stats_window_size": 100,
|
44 |
+
"ep_info_buffer": {
|
45 |
+
":type:": "<class 'collections.deque'>",
|
46 |
+
":serialized:": "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"
|
47 |
+
},
|
48 |
+
"ep_success_buffer": {
|
49 |
+
":type:": "<class 'collections.deque'>",
|
50 |
+
":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="
|
51 |
+
},
|
52 |
+
"_n_updates": 160,
|
53 |
+
"n_steps": 2048,
|
54 |
+
"gamma": 0.99,
|
55 |
+
"gae_lambda": 0.95,
|
56 |
+
"ent_coef": 0.0,
|
57 |
+
"vf_coef": 0.5,
|
58 |
+
"max_grad_norm": 0.5,
|
59 |
+
"rollout_buffer_class": {
|
60 |
+
":type:": "<class 'abc.ABCMeta'>",
|
61 |
+
":serialized:": "gAWVOgAAAAAAAACMIHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5idWZmZXJzlIwRRGljdFJvbGxvdXRCdWZmZXKUk5Qu",
|
62 |
+
"__module__": "stable_baselines3.common.buffers",
|
63 |
+
"__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': typing.Dict[str, typing.Tuple[int, ...]], 'observations': typing.Dict[str, numpy.ndarray]}",
|
64 |
+
"__doc__": "\n Dict Rollout buffer used in on-policy algorithms like A2C/PPO.\n Extends the RolloutBuffer to use dictionary observations\n\n It corresponds to ``buffer_size`` transitions collected\n using the current policy.\n This experience will be discarded after the policy update.\n In order to use PPO objective, we also store the current value of each state\n and the log probability of each taken action.\n\n The term rollout here refers to the model-free notion and should not\n be used with the concept of rollout used in model-based RL or planning.\n Hence, it is only involved in policy and value function training but not action selection.\n\n :param buffer_size: Max number of element in the buffer\n :param observation_space: Observation space\n :param action_space: Action space\n :param device: PyTorch device\n :param gae_lambda: Factor for trade-off of bias vs variance for Generalized Advantage Estimator\n Equivalent to Monte-Carlo advantage estimate when set to 1.\n :param gamma: Discount factor\n :param n_envs: Number of parallel environments\n ",
|
65 |
+
"__init__": "<function DictRolloutBuffer.__init__ at 0x780c8ba29ab0>",
|
66 |
+
"reset": "<function DictRolloutBuffer.reset at 0x780c8ba29b40>",
|
67 |
+
"add": "<function DictRolloutBuffer.add at 0x780c8ba29bd0>",
|
68 |
+
"get": "<function DictRolloutBuffer.get at 0x780c8ba29c60>",
|
69 |
+
"_get_samples": "<function DictRolloutBuffer._get_samples at 0x780c8ba29cf0>",
|
70 |
+
"__abstractmethods__": "frozenset()",
|
71 |
+
"_abc_impl": "<_abc._abc_data object at 0x780c8ba2c100>"
|
72 |
+
},
|
73 |
+
"rollout_buffer_kwargs": {},
|
74 |
+
"normalize_advantage": true,
|
75 |
+
"observation_space": {
|
76 |
+
":type:": "<class 'gymnasium.spaces.dict.Dict'>",
|
77 |
+
":serialized:": "gAWVsAMAAAAAAACMFWd5bW5hc2l1bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwUZ3ltbmFzaXVtLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowNYm91bmRlZF9iZWxvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYDAAAAAAAAAAEBAZRoE4wCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoHCiWAwAAAAAAAAABAQGUaCBLA4WUaCR0lFKUjAZfc2hhcGWUSwOFlIwDbG93lGgcKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFksDhZRoJHSUUpSMBGhpZ2iUaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlIwIbG93X3JlcHKUjAUtMTAuMJSMCWhpZ2hfcmVwcpSMBDEwLjCUjApfbnBfcmFuZG9tlE51YowMZGVzaXJlZF9nb2FslGgNKYGUfZQoaBBoFmgZaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgnaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgsSwOFlGguaBwolgwAAAAAAAAAAAAgwQAAIMEAACDBlGgWSwOFlGgkdJRSlGgzaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlGg4jAUtMTAuMJRoOowEMTAuMJRoPE51YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgWaBloHCiWBgAAAAAAAAABAQEBAQGUaCBLBoWUaCR0lFKUaCdoHCiWBgAAAAAAAAABAQEBAQGUaCBLBoWUaCR0lFKUaCxLBoWUaC5oHCiWGAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBZLBoWUaCR0lFKUaDNoHCiWGAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBZLBoWUaCR0lFKUaDiMBS0xMC4wlGg6jAQxMC4wlGg8TnVidWgsTmgQTmg8TnViLg==",
|
78 |
+
"spaces": "OrderedDict([('achieved_goal', Box(-10.0, 10.0, (3,), float32)), ('desired_goal', Box(-10.0, 10.0, (3,), float32)), ('observation', Box(-10.0, 10.0, (6,), float32))])",
|
79 |
+
"_shape": null,
|
80 |
+
"dtype": null,
|
81 |
+
"_np_random": null
|
82 |
+
},
|
83 |
+
"action_space": {
|
84 |
+
":type:": "<class 'gymnasium.spaces.box.Box'>",
|
85 |
+
":serialized:": "gAWVnQEAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMDWJvdW5kZWRfYmVsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWAwAAAAAAAAABAQGUaAiMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUjAFDlHSUUpSMDWJvdW5kZWRfYWJvdmWUaBEolgMAAAAAAAAAAQEBlGgVSwOFlGgZdJRSlIwGX3NoYXBllEsDhZSMA2xvd5RoESiWDAAAAAAAAAAAAIC/AACAvwAAgL+UaAtLA4WUaBl0lFKUjARoaWdolGgRKJYMAAAAAAAAAAAAgD8AAIA/AACAP5RoC0sDhZRoGXSUUpSMCGxvd19yZXBylIwELTEuMJSMCWhpZ2hfcmVwcpSMAzEuMJSMCl9ucF9yYW5kb22UTnViLg==",
|
86 |
+
"dtype": "float32",
|
87 |
+
"bounded_below": "[ True True True]",
|
88 |
+
"bounded_above": "[ True True True]",
|
89 |
+
"_shape": [
|
90 |
+
3
|
91 |
+
],
|
92 |
+
"low": "[-1. -1. -1.]",
|
93 |
+
"high": "[1. 1. 1.]",
|
94 |
+
"low_repr": "-1.0",
|
95 |
+
"high_repr": "1.0",
|
96 |
+
"_np_random": null
|
97 |
+
},
|
98 |
+
"n_envs": 32,
|
99 |
+
"batch_size": 64,
|
100 |
+
"n_epochs": 10,
|
101 |
+
"clip_range": {
|
102 |
+
":type:": "<class 'function'>",
|
103 |
+
":serialized:": "gAWVxQIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSS91c3IvbG9jYWwvbGliL3B5dGhvbjMuMTAvZGlzdC1wYWNrYWdlcy9zdGFibGVfYmFzZWxpbmVzMy9jb21tb24vdXRpbHMucHmUjARmdW5jlEuDQwIEAZSMA3ZhbJSFlCl0lFKUfZQojAtfX3BhY2thZ2VfX5SMGHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbpSMCF9fbmFtZV9flIwec3RhYmxlX2Jhc2VsaW5lczMuY29tbW9uLnV0aWxzlIwIX19maWxlX1+UjEkvdXNyL2xvY2FsL2xpYi9weXRob24zLjEwL2Rpc3QtcGFja2FnZXMvc3RhYmxlX2Jhc2VsaW5lczMvY29tbW9uL3V0aWxzLnB5lHVOTmgAjBBfbWFrZV9lbXB0eV9jZWxslJOUKVKUhZR0lFKUjBxjbG91ZHBpY2tsZS5jbG91ZHBpY2tsZV9mYXN0lIwSX2Z1bmN0aW9uX3NldHN0YXRllJOUaB99lH2UKGgWaA2MDF9fcXVhbG5hbWVfX5SMGWNvbnN0YW50X2ZuLjxsb2NhbHM+LmZ1bmOUjA9fX2Fubm90YXRpb25zX1+UfZSMDl9fa3dkZWZhdWx0c19flE6MDF9fZGVmYXVsdHNfX5ROjApfX21vZHVsZV9flGgXjAdfX2RvY19flE6MC19fY2xvc3VyZV9flGgAjApfbWFrZV9jZWxslJOURz/JmZmZmZmahZRSlIWUjBdfY2xvdWRwaWNrbGVfc3VibW9kdWxlc5RdlIwLX19nbG9iYWxzX1+UfZR1hpSGUjAu"
|
104 |
+
},
|
105 |
+
"clip_range_vf": null,
|
106 |
+
"target_kl": null,
|
107 |
+
"lr_schedule": {
|
108 |
+
":type:": "<class 'function'>",
|
109 |
+
":serialized:": "gAWVxQIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSS91c3IvbG9jYWwvbGliL3B5dGhvbjMuMTAvZGlzdC1wYWNrYWdlcy9zdGFibGVfYmFzZWxpbmVzMy9jb21tb24vdXRpbHMucHmUjARmdW5jlEuDQwIEAZSMA3ZhbJSFlCl0lFKUfZQojAtfX3BhY2thZ2VfX5SMGHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbpSMCF9fbmFtZV9flIwec3RhYmxlX2Jhc2VsaW5lczMuY29tbW9uLnV0aWxzlIwIX19maWxlX1+UjEkvdXNyL2xvY2FsL2xpYi9weXRob24zLjEwL2Rpc3QtcGFja2FnZXMvc3RhYmxlX2Jhc2VsaW5lczMvY29tbW9uL3V0aWxzLnB5lHVOTmgAjBBfbWFrZV9lbXB0eV9jZWxslJOUKVKUhZR0lFKUjBxjbG91ZHBpY2tsZS5jbG91ZHBpY2tsZV9mYXN0lIwSX2Z1bmN0aW9uX3NldHN0YXRllJOUaB99lH2UKGgWaA2MDF9fcXVhbG5hbWVfX5SMGWNvbnN0YW50X2ZuLjxsb2NhbHM+LmZ1bmOUjA9fX2Fubm90YXRpb25zX1+UfZSMDl9fa3dkZWZhdWx0c19flE6MDF9fZGVmYXVsdHNfX5ROjApfX21vZHVsZV9flGgXjAdfX2RvY19flE6MC19fY2xvc3VyZV9flGgAjApfbWFrZV9jZWxslJOURz9QYk3S8an8hZRSlIWUjBdfY2xvdWRwaWNrbGVfc3VibW9kdWxlc5RdlIwLX19nbG9iYWxzX1+UfZR1hpSGUjAu"
|
110 |
+
}
|
111 |
+
}
|
a2c-PandaReachDense-v3/policy.optimizer.pth
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:939dde41fffb1b615486300f7b5aa915441b4aaebe2e7b9e1ba7b96de9ffe5a9
|
3 |
+
size 92833
|
a2c-PandaReachDense-v3/policy.pth
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:26b37500098a7e610348926d00c1659f5c95789135d9422d7dc8360eb3e33573
|
3 |
+
size 46447
|
a2c-PandaReachDense-v3/pytorch_variables.pth
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:0c35cea3b2e60fb5e7e162d3592df775cd400e575a31c72f359fb9e654ab00c5
|
3 |
+
size 864
|
a2c-PandaReachDense-v3/system_info.txt
ADDED
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
- OS: Linux-5.15.120+-x86_64-with-glibc2.35 # 1 SMP Wed Aug 30 11:19:59 UTC 2023
|
2 |
+
- Python: 3.10.12
|
3 |
+
- Stable-Baselines3: 2.2.1
|
4 |
+
- PyTorch: 2.1.0+cu118
|
5 |
+
- GPU Enabled: True
|
6 |
+
- Numpy: 1.23.5
|
7 |
+
- Cloudpickle: 2.2.1
|
8 |
+
- Gymnasium: 0.29.1
|
9 |
+
- OpenAI Gym: 0.25.2
|
config.json
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"policy_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVRQAAAAAAAACMIXN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5wb2xpY2llc5SMG011bHRpSW5wdXRBY3RvckNyaXRpY1BvbGljeZSTlC4=", "__module__": "stable_baselines3.common.policies", "__doc__": "\n MultiInputActorClass policy class for actor-critic algorithms (has both policy and value prediction).\n Used by A2C, PPO and the likes.\n\n :param observation_space: Observation space (Tuple)\n :param action_space: Action space\n :param lr_schedule: Learning rate schedule (could be constant)\n :param net_arch: The specification of the policy and value networks.\n :param activation_fn: Activation function\n :param ortho_init: Whether to use or not orthogonal initialization\n :param use_sde: Whether to use State Dependent Exploration or not\n :param log_std_init: Initial value for the log standard deviation\n :param full_std: Whether to use (n_features x n_actions) parameters\n for the std instead of only (n_features,) when using gSDE\n :param use_expln: Use ``expln()`` function instead of ``exp()`` to ensure\n a positive standard deviation (cf paper). It allows to keep variance\n above zero and prevent it from growing too fast. In practice, ``exp()`` is usually enough.\n :param squash_output: Whether to squash the output using a tanh function,\n this allows to ensure boundaries when using gSDE.\n :param features_extractor_class: Uses the CombinedExtractor\n :param features_extractor_kwargs: Keyword arguments\n to pass to the features extractor.\n :param share_features_extractor: If True, the features extractor is shared between the policy and value networks.\n :param normalize_images: Whether to normalize images or not,\n dividing by 255.0 (True by default)\n :param optimizer_class: The optimizer to use,\n ``th.optim.Adam`` by default\n :param optimizer_kwargs: Additional keyword arguments,\n excluding the learning rate, to pass to the optimizer\n ", "__init__": "<function MultiInputActorCriticPolicy.__init__ at 0x780c8bac3130>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x780c8bac59c0>"}, "verbose": 1, "policy_kwargs": {}, "num_timesteps": 1048576, "_total_timesteps": 1000000, "_num_timesteps_at_start": 0, "seed": null, "action_noise": null, "start_time": 1701932706061810302, "learning_rate": 0.001, "tensorboard_log": null, "_last_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "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", "achieved_goal": "[[-0.5880166 -1.1176624 -0.57199216]\n [ 0.23356108 -0.01039266 1.1074235 ]\n [ 1.0298363 0.9673555 1.3441365 ]\n [ 0.67960966 -0.35491252 0.49080014]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.00704598 -0.07348655 -0.82301456]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-0.14065012 0.18958811 0.41832712]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.5712087 -0.6053157 -0.21565622]\n [-1.7056764 1.1831995 1.0714604 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-0.3521595 0.18775119 0.5380154 ]\n [-0.03954854 0.18891817 0.25590166]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-0.8809512 -0.86452043 -1.2173691 ]\n [-0.5296123 -0.9843069 -0.08518658]\n [-1.0596045 -0.19922388 -0.7764529 ]\n [-0.40931585 -0.06238519 -0.3039439 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.77551866 0.26798078 0.6604296 ]\n [ 0.91426384 1.1047373 -0.47617528]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [-1.4953308 -0.67784077 0.424706 ]\n [-1.3741199 -0.96416134 1.0811176 ]\n [ 0.38486043 0.01168181 1.265994 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.19456746 -0.09075853 0.5913282 ]\n [ 0.8940774 0.5935585 -1.0416113 ]\n [ 0.7097539 -0.6106161 0.47198853]\n [-1.0344838 -0.2088511 0.558029 ]]", "desired_goal": "[[-0.15814523 -1.2812926 -1.7338904 ]\n [ 1.0019664 1.6585917 0.71330166]\n [ 1.1319112 1.5773536 0.6356005 ]\n [ 1.1036464 -1.0015918 -0.6198027 ]\n [ 1.6105556 0.40827328 -0.07683814]\n [ 0.31283632 0.14742738 -1.7033874 ]\n [ 0.5021568 0.09986632 -0.59065384]\n [-0.1065034 0.7667169 0.19301094]\n [-0.9869198 0.690854 -0.7688379 ]\n [ 0.7336276 -0.4085334 -1.4697455 ]\n [-1.3282917 1.3204693 0.3030797 ]\n [-0.2592755 0.8235314 -1.6978061 ]\n [-0.68852836 0.9992637 0.04026895]\n [-0.38920593 1.4739298 -0.889785 ]\n [-1.3736767 0.71849495 -1.6673933 ]\n [-0.547601 -1.288213 -1.7811426 ]\n [-0.15844287 -1.146807 -1.2816783 ]\n [-1.0614783 0.35657844 -1.5055143 ]\n [-0.62769145 0.12644449 -1.5476773 ]\n [ 0.93892837 -0.23092346 0.57507926]\n [ 1.5851208 0.52393574 -0.8732381 ]\n [ 1.5740321 0.82946426 -1.2121978 ]\n [-0.17559725 1.2125391 -0.9773786 ]\n [-1.5260708 -0.5242966 -0.2793176 ]\n [-1.5491866 -0.7678128 1.3012393 ]\n [ 0.40614074 0.54202515 1.4261842 ]\n [ 1.6189284 1.6048032 0.9374489 ]\n [-1.2916341 0.2886998 1.2536975 ]\n [-1.0515951 -0.7666763 -1.1757147 ]\n [ 0.6274029 0.96188253 -1.1212184 ]\n [ 1.5371077 -0.65940994 -0.4201868 ]\n [-1.4276477 -0.295499 -0.26832977]]", "observation": "[[-0.5880166 -1.1176624 -0.57199216 -2.20478 -1.6179795 -1.642291 ]\n [ 0.23356108 -0.01039266 1.1074235 0.28890595 1.757011 1.6086402 ]\n [ 1.0298363 0.9673555 1.3441365 0.9758704 -1.776168 0.78654385]\n [ 0.67960966 -0.35491252 0.49080014 0.9199512 -1.9064503 -1.7049423 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.00704598 -0.07348655 -0.82301456 -1.34135 0.04641961 -1.5015445 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-0.14065012 0.18958811 0.41832712 -1.0718333 2.0613487 -0.44034344]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.5712087 -0.6053157 -0.21565622 -0.10839061 -0.23785707 -2.2436695 ]\n [-1.7056764 1.1831995 1.0714604 -0.5483819 0.61416346 0.52114993]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-0.3521595 0.18775119 0.5380154 -1.1947322 2.0022717 0.7569618 ]\n [-0.03954854 0.18891817 0.25590166 -2.3974507 1.9913687 -2.0429127 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-0.8809512 -0.86452043 -1.2173691 -0.14797387 0.29059887 0.41473967]\n [-0.5296123 -0.9843069 -0.08518658 -1.1622665 -1.2301571 -0.70818925]\n [-1.0596045 -0.19922388 -0.7764529 -1.0713946 -1.1758118 -1.6364795 ]\n [-0.40931585 -0.06238519 -0.3039439 -0.9221058 0.3390223 -1.5352485 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.77551866 0.26798078 0.6604296 0.89225465 -0.70461875 0.33689365]\n [ 0.91426384 1.1047373 -0.47617528 -0.52764034 1.1651331 -1.6465136 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [-1.4953308 -0.67784077 0.424706 -2.0122886 -0.07918105 -1.7614126 ]\n [-1.3741199 -0.96416134 1.0811176 -0.24892563 -2.150869 1.786904 ]\n [ 0.38486043 0.01168181 1.265994 0.6179116 1.4319359 0.9976452 ]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.19456746 -0.09075853 0.5913282 0.16014901 -0.00658018 0.14929897]\n [ 0.8940774 0.5935585 -1.0416113 0.8528485 0.8956399 1.7465918 ]\n [ 0.7097539 -0.6106161 0.47198853 0.91115326 -1.6325845 0.32099986]\n [-1.0344838 -0.2088511 0.558029 -1.7551196 -1.9186469 -1.4246302 ]]"}, "_last_episode_starts": {":type:": "<class 'numpy.ndarray'>", ":serialized:": "gAWVkwAAAAAAAACMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYgAAAAAAAAAAAAAAABAAEAAQAAAQAAAQAAAAABAAABAAAAAQEBAAAAlIwFbnVtcHmUjAVkdHlwZZSTlIwCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksghZSMAUOUdJRSlC4="}, "_last_original_obs": {":type:": "<class 'collections.OrderedDict'>", ":serialized:": "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", "achieved_goal": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01]]", "desired_goal": "[[-0.14581306 0.00986536 0.04396097]\n [-0.10233594 0.0283022 0.19242786]\n [-0.07527363 0.04997215 0.2412731 ]\n [ 0.04314129 0.10178021 0.08480414]\n [ 0.04396257 0.1297511 0.29727656]\n [-0.14482877 -0.1113321 0.00249028]\n [ 0.13042708 -0.12632719 0.16789094]\n [-0.04265981 -0.13349009 0.09051029]\n [-0.08988568 0.05761744 0.22201696]\n [-0.1329784 -0.0761321 0.1031149 ]\n [ 0.03968814 0.05666218 0.25228623]\n [ 0.10021628 -0.07780676 0.23622368]\n [-0.0415734 0.03270615 0.06526873]\n [-0.10955649 0.07791857 0.02918381]\n [ 0.04914758 0.07787645 0.28592044]\n [ 0.11969861 0.12605119 0.29211184]\n [-0.00757686 -0.1048865 0.05245497]\n [ 0.07447539 -0.05980471 0.1640441 ]\n [-0.09274167 0.03240501 0.07352907]\n [ 0.11460351 -0.12485413 0.19859771]\n [ 0.14094058 0.12297832 0.08107147]\n [ 0.14437237 -0.08969233 0.26154104]\n [ 0.1380235 -0.05005985 0.15140092]\n [ 0.11447798 -0.04470129 0.26743597]\n [-0.0466431 -0.01683203 0.01489295]\n [ 0.05777196 0.05355849 0.26646003]\n [ 0.08198604 0.05489867 0.15123747]\n [ 0.06996942 0.02641423 0.13274655]\n [ 0.01017045 -0.14641757 0.03817287]\n [-0.02724356 -0.06135538 0.2973529 ]\n [ 0.12859952 -0.02031418 0.24148628]\n [-0.09217758 0.03637213 0.11162214]]", "observation": "[[ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]\n [ 3.8439669e-02 -2.1944723e-12 1.9740014e-01 0.0000000e+00\n -0.0000000e+00 0.0000000e+00]]"}, "_episode_num": 0, "use_sde": false, "sde_sample_freq": -1, "_current_progress_remaining": -0.04857599999999995, "_stats_window_size": 100, "ep_info_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "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"}, "ep_success_buffer": {":type:": "<class 'collections.deque'>", ":serialized:": "gAWVIAAAAAAAAACMC2NvbGxlY3Rpb25zlIwFZGVxdWWUk5QpS2SGlFKULg=="}, "_n_updates": 160, "n_steps": 2048, "gamma": 0.99, "gae_lambda": 0.95, "ent_coef": 0.0, "vf_coef": 0.5, "max_grad_norm": 0.5, "rollout_buffer_class": {":type:": "<class 'abc.ABCMeta'>", ":serialized:": "gAWVOgAAAAAAAACMIHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbi5idWZmZXJzlIwRRGljdFJvbGxvdXRCdWZmZXKUk5Qu", "__module__": "stable_baselines3.common.buffers", "__annotations__": "{'observation_space': <class 'gymnasium.spaces.dict.Dict'>, 'obs_shape': typing.Dict[str, typing.Tuple[int, ...]], 'observations': typing.Dict[str, numpy.ndarray]}", "__doc__": "\n Dict Rollout buffer used in on-policy algorithms like A2C/PPO.\n Extends the RolloutBuffer to use dictionary observations\n\n It corresponds to ``buffer_size`` transitions collected\n using the current policy.\n This experience will be discarded after the policy update.\n In order to use PPO objective, we also store the current value of each state\n and the log probability of each taken action.\n\n The term rollout here refers to the model-free notion and should not\n be used with the concept of rollout used in model-based RL or planning.\n Hence, it is only involved in policy and value function training but not action selection.\n\n :param buffer_size: Max number of element in the buffer\n :param observation_space: Observation space\n :param action_space: Action space\n :param device: PyTorch device\n :param gae_lambda: Factor for trade-off of bias vs variance for Generalized Advantage Estimator\n Equivalent to Monte-Carlo advantage estimate when set to 1.\n :param gamma: Discount factor\n :param n_envs: Number of parallel environments\n ", "__init__": "<function DictRolloutBuffer.__init__ at 0x780c8ba29ab0>", "reset": "<function DictRolloutBuffer.reset at 0x780c8ba29b40>", "add": "<function DictRolloutBuffer.add at 0x780c8ba29bd0>", "get": "<function DictRolloutBuffer.get at 0x780c8ba29c60>", "_get_samples": "<function DictRolloutBuffer._get_samples at 0x780c8ba29cf0>", "__abstractmethods__": "frozenset()", "_abc_impl": "<_abc._abc_data object at 0x780c8ba2c100>"}, "rollout_buffer_kwargs": {}, "normalize_advantage": true, "observation_space": {":type:": "<class 'gymnasium.spaces.dict.Dict'>", ":serialized:": "gAWVsAMAAAAAAACMFWd5bW5hc2l1bS5zcGFjZXMuZGljdJSMBERpY3SUk5QpgZR9lCiMBnNwYWNlc5SMC2NvbGxlY3Rpb25zlIwLT3JkZXJlZERpY3SUk5QpUpQojA1hY2hpZXZlZF9nb2FslIwUZ3ltbmFzaXVtLnNwYWNlcy5ib3iUjANCb3iUk5QpgZR9lCiMBWR0eXBllIwFbnVtcHmUjAVkdHlwZZSTlIwCZjSUiYiHlFKUKEsDjAE8lE5OTkr/////Sv////9LAHSUYowNYm91bmRlZF9iZWxvd5SMEm51bXB5LmNvcmUubnVtZXJpY5SMC19mcm9tYnVmZmVylJOUKJYDAAAAAAAAAAEBAZRoE4wCYjGUiYiHlFKUKEsDjAF8lE5OTkr/////Sv////9LAHSUYksDhZSMAUOUdJRSlIwNYm91bmRlZF9hYm92ZZRoHCiWAwAAAAAAAAABAQGUaCBLA4WUaCR0lFKUjAZfc2hhcGWUSwOFlIwDbG93lGgcKJYMAAAAAAAAAAAAIMEAACDBAAAgwZRoFksDhZRoJHSUUpSMBGhpZ2iUaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlIwIbG93X3JlcHKUjAUtMTAuMJSMCWhpZ2hfcmVwcpSMBDEwLjCUjApfbnBfcmFuZG9tlE51YowMZGVzaXJlZF9nb2FslGgNKYGUfZQoaBBoFmgZaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgnaBwolgMAAAAAAAAAAQEBlGggSwOFlGgkdJRSlGgsSwOFlGguaBwolgwAAAAAAAAAAAAgwQAAIMEAACDBlGgWSwOFlGgkdJRSlGgzaBwolgwAAAAAAAAAAAAgQQAAIEEAACBBlGgWSwOFlGgkdJRSlGg4jAUtMTAuMJRoOowEMTAuMJRoPE51YowLb2JzZXJ2YXRpb26UaA0pgZR9lChoEGgWaBloHCiWBgAAAAAAAAABAQEBAQGUaCBLBoWUaCR0lFKUaCdoHCiWBgAAAAAAAAABAQEBAQGUaCBLBoWUaCR0lFKUaCxLBoWUaC5oHCiWGAAAAAAAAAAAACDBAAAgwQAAIMEAACDBAAAgwQAAIMGUaBZLBoWUaCR0lFKUaDNoHCiWGAAAAAAAAAAAACBBAAAgQQAAIEEAACBBAAAgQQAAIEGUaBZLBoWUaCR0lFKUaDiMBS0xMC4wlGg6jAQxMC4wlGg8TnVidWgsTmgQTmg8TnViLg==", "spaces": "OrderedDict([('achieved_goal', Box(-10.0, 10.0, (3,), float32)), ('desired_goal', Box(-10.0, 10.0, (3,), float32)), ('observation', Box(-10.0, 10.0, (6,), float32))])", "_shape": null, "dtype": null, "_np_random": null}, "action_space": {":type:": "<class 'gymnasium.spaces.box.Box'>", ":serialized:": "gAWVnQEAAAAAAACMFGd5bW5hc2l1bS5zcGFjZXMuYm94lIwDQm94lJOUKYGUfZQojAVkdHlwZZSMBW51bXB5lIwFZHR5cGWUk5SMAmY0lImIh5RSlChLA4wBPJROTk5K/////0r/////SwB0lGKMDWJvdW5kZWRfYmVsb3eUjBJudW1weS5jb3JlLm51bWVyaWOUjAtfZnJvbWJ1ZmZlcpSTlCiWAwAAAAAAAAABAQGUaAiMAmIxlImIh5RSlChLA4wBfJROTk5K/////0r/////SwB0lGJLA4WUjAFDlHSUUpSMDWJvdW5kZWRfYWJvdmWUaBEolgMAAAAAAAAAAQEBlGgVSwOFlGgZdJRSlIwGX3NoYXBllEsDhZSMA2xvd5RoESiWDAAAAAAAAAAAAIC/AACAvwAAgL+UaAtLA4WUaBl0lFKUjARoaWdolGgRKJYMAAAAAAAAAAAAgD8AAIA/AACAP5RoC0sDhZRoGXSUUpSMCGxvd19yZXBylIwELTEuMJSMCWhpZ2hfcmVwcpSMAzEuMJSMCl9ucF9yYW5kb22UTnViLg==", "dtype": "float32", "bounded_below": "[ True True True]", "bounded_above": "[ True True True]", "_shape": [3], "low": "[-1. -1. -1.]", "high": "[1. 1. 1.]", "low_repr": "-1.0", "high_repr": "1.0", "_np_random": null}, "n_envs": 32, "batch_size": 64, "n_epochs": 10, "clip_range": {":type:": "<class 'function'>", ":serialized:": "gAWVxQIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSS91c3IvbG9jYWwvbGliL3B5dGhvbjMuMTAvZGlzdC1wYWNrYWdlcy9zdGFibGVfYmFzZWxpbmVzMy9jb21tb24vdXRpbHMucHmUjARmdW5jlEuDQwIEAZSMA3ZhbJSFlCl0lFKUfZQojAtfX3BhY2thZ2VfX5SMGHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbpSMCF9fbmFtZV9flIwec3RhYmxlX2Jhc2VsaW5lczMuY29tbW9uLnV0aWxzlIwIX19maWxlX1+UjEkvdXNyL2xvY2FsL2xpYi9weXRob24zLjEwL2Rpc3QtcGFja2FnZXMvc3RhYmxlX2Jhc2VsaW5lczMvY29tbW9uL3V0aWxzLnB5lHVOTmgAjBBfbWFrZV9lbXB0eV9jZWxslJOUKVKUhZR0lFKUjBxjbG91ZHBpY2tsZS5jbG91ZHBpY2tsZV9mYXN0lIwSX2Z1bmN0aW9uX3NldHN0YXRllJOUaB99lH2UKGgWaA2MDF9fcXVhbG5hbWVfX5SMGWNvbnN0YW50X2ZuLjxsb2NhbHM+LmZ1bmOUjA9fX2Fubm90YXRpb25zX1+UfZSMDl9fa3dkZWZhdWx0c19flE6MDF9fZGVmYXVsdHNfX5ROjApfX21vZHVsZV9flGgXjAdfX2RvY19flE6MC19fY2xvc3VyZV9flGgAjApfbWFrZV9jZWxslJOURz/JmZmZmZmahZRSlIWUjBdfY2xvdWRwaWNrbGVfc3VibW9kdWxlc5RdlIwLX19nbG9iYWxzX1+UfZR1hpSGUjAu"}, "clip_range_vf": null, "target_kl": null, "lr_schedule": {":type:": "<class 'function'>", ":serialized:": "gAWVxQIAAAAAAACMF2Nsb3VkcGlja2xlLmNsb3VkcGlja2xllIwOX21ha2VfZnVuY3Rpb26Uk5QoaACMDV9idWlsdGluX3R5cGWUk5SMCENvZGVUeXBllIWUUpQoSwFLAEsASwFLAUsTQwSIAFMAlE6FlCmMAV+UhZSMSS91c3IvbG9jYWwvbGliL3B5dGhvbjMuMTAvZGlzdC1wYWNrYWdlcy9zdGFibGVfYmFzZWxpbmVzMy9jb21tb24vdXRpbHMucHmUjARmdW5jlEuDQwIEAZSMA3ZhbJSFlCl0lFKUfZQojAtfX3BhY2thZ2VfX5SMGHN0YWJsZV9iYXNlbGluZXMzLmNvbW1vbpSMCF9fbmFtZV9flIwec3RhYmxlX2Jhc2VsaW5lczMuY29tbW9uLnV0aWxzlIwIX19maWxlX1+UjEkvdXNyL2xvY2FsL2xpYi9weXRob24zLjEwL2Rpc3QtcGFja2FnZXMvc3RhYmxlX2Jhc2VsaW5lczMvY29tbW9uL3V0aWxzLnB5lHVOTmgAjBBfbWFrZV9lbXB0eV9jZWxslJOUKVKUhZR0lFKUjBxjbG91ZHBpY2tsZS5jbG91ZHBpY2tsZV9mYXN0lIwSX2Z1bmN0aW9uX3NldHN0YXRllJOUaB99lH2UKGgWaA2MDF9fcXVhbG5hbWVfX5SMGWNvbnN0YW50X2ZuLjxsb2NhbHM+LmZ1bmOUjA9fX2Fubm90YXRpb25zX1+UfZSMDl9fa3dkZWZhdWx0c19flE6MDF9fZGVmYXVsdHNfX5ROjApfX21vZHVsZV9flGgXjAdfX2RvY19flE6MC19fY2xvc3VyZV9flGgAjApfbWFrZV9jZWxslJOURz9QYk3S8an8hZRSlIWUjBdfY2xvdWRwaWNrbGVfc3VibW9kdWxlc5RdlIwLX19nbG9iYWxzX1+UfZR1hpSGUjAu"}, "system_info": {"OS": "Linux-5.15.120+-x86_64-with-glibc2.35 # 1 SMP Wed Aug 30 11:19:59 UTC 2023", "Python": "3.10.12", "Stable-Baselines3": "2.2.1", "PyTorch": "2.1.0+cu118", "GPU Enabled": "True", "Numpy": "1.23.5", "Cloudpickle": "2.2.1", "Gymnasium": "0.29.1", "OpenAI Gym": "0.25.2"}}
|
replay.mp4
ADDED
Binary file (719 kB). View file
|
|
results.json
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"mean_reward": -0.24273739650379866, "std_reward": 0.11141545022279922, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2023-12-07T07:53:06.781532"}
|
vec_normalize.pkl
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:47092b7ddd03386cb269c8b86aae9edfc0e240e2bd31a5de5f6cff21d41879b4
|
3 |
+
size 2834
|