| BDQ: | |
| batch_size: 64 | |
| buffer_size: 1000000 | |
| epsilon_greedy: true | |
| exploration_final_eps: 0.1 | |
| exploration_fraction: 0.3 | |
| layers: | |
| - [64, 64] | |
| - [32] | |
| - [32] | |
| learning_rate: 0.0001 | |
| learning_starts: 1000 | |
| num_actions_pad: 33 | |
| prioritized_replay: false | |
| save_dir: BDQ1mSimplified | |
| target_network_update_freq: 1000 | |
| tensorboard_logs: null | |
| total_timesteps: 4000000 | |
| DDPG: {save_dir: DDPG, tensorboard_logs: DDPG, total_timesteps: 2000000} | |
| DQN: {batch_size: 32, learning_rate: 0.001, prioritized_replay: true, save_dir: DQN4mFull, | |
| tensorboard_logs: null, total_timesteps: 4000000} | |
| PPO: {learning_rate: 0.001, n_steps: 2000, save_dir: ppo_5m, tensorboard_logs: tensorboard_logs/ppo_5m, | |
| total_timesteps: 1000000} | |
| SAC: | |
| batch_size: 64 | |
| buffer_size: 1000000 | |
| layers: [64, 64] | |
| max_iters: 400 | |
| save_dir: SAC_10m_table | |
| step_size: 0.0003 | |
| tensorboard_logs: null | |
| total_timesteps: 10000000 | |
| TRPO: {batch_size: 64, max_iters: 400, save_dir: trpo_1m, step_size: 0.001, tensorboard_logs: tensorboard_logs/trpo_1m, | |
| total_timesteps: 5000000} | |
| algorithm: sac | |
| curriculum: | |
| extent: [0.01, 0.1] | |
| init_lambda: 0.0 | |
| lift_dist: [0.015, 0.1] | |
| max_objects: [1, 5] | |
| min_objects: [1, 1] | |
| n_steps: 8 | |
| robot_height: [0.15, 0.25] | |
| success_threshold: 0.7 | |
| window_size: 1000 | |
| depth_observation: true | |
| discount_factor: 0.99 | |
| full_observation: false | |
| normalize: true | |
| reward: {custom: true, delta_z_scale: 1000.0, grasp_reward: 100.0, shaped: true, terminal_reward: 10000.0, | |
| time_penalty: 200.0} | |
| robot: {discrete: false, max_force: 100, max_translation: 0.03, max_yaw_rotation: 0.15, | |
| model_path: models/gripper/wsg50_one_motor_gripper_new.sdf, num_actions_pad: 2, | |
| step_size: 0.01, yaw_step: 0.1} | |
| scene: {data_set: random_urdfs, scene_type: OnTable} | |
| sensor: | |
| camera_info: config/camera_info.yaml | |
| encoder_dir: encoder_files/new_gripper_encoder | |
| randomize: {focal_length: 4, optical_center: 2, rotation: 0.0349, translation: 0.002} | |
| transform: config/camera_transform.yaml | |
| visualize: false | |
| simplified: false | |
| simulation: {real_time: false, visualize: false} | |
| skip_empty_initial_state: true | |
| time_horizon: 200 | |