{ "help": false, "algo": "APPO", "env": "AllegroHand", "experiment": "04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True", "train_dir": "./train_dir/allegrohand_v079_norm_returns/allegrohand_v079_norm_returns_slurm", "restart_behavior": "resume", "device": "gpu", "seed": 3333, "num_policies": 1, "async_rl": false, "serial_mode": true, "batched_sampling": true, "num_batches_to_accumulate": 2, "worker_num_splits": 1, "policy_workers_per_policy": 1, "max_policy_lag": 1000, "num_workers": 1, "num_envs_per_worker": 1, "batch_size": 32768, "num_batches_per_epoch": 8, "num_epochs": 5, "rollout": 16, "recurrence": 16, "shuffle_minibatches": false, "gamma": 0.99, "reward_scale": 0.01, "reward_clip": 1000.0, "value_bootstrap": true, "normalize_returns": true, "exploration_loss_coeff": 0.0, "value_loss_coeff": 2.0, "kl_loss_coeff": 0.0, "exploration_loss": "entropy", "gae_lambda": 0.95, "ppo_clip_ratio": 0.2, "ppo_clip_value": 1.0, "with_vtrace": false, "vtrace_rho": 1.0, "vtrace_c": 1.0, "optimizer": "adam", "adam_eps": 1e-06, "adam_beta1": 0.9, "adam_beta2": 0.999, "max_grad_norm": 1.0, "learning_rate": 0.005, "lr_schedule": "kl_adaptive_epoch", "lr_schedule_kl_threshold": 0.02, "obs_subtract_mean": 0.0, "obs_scale": 1.0, "normalize_input": true, "normalize_input_keys": null, "decorrelate_experience_max_seconds": 0, "decorrelate_envs_on_one_worker": true, "actor_worker_gpus": [ 0 ], "set_workers_cpu_affinity": true, "force_envs_single_thread": false, "default_niceness": 0, "log_to_file": true, "experiment_summaries_interval": 10, "flush_summaries_interval": 30, "stats_avg": 100, "summaries_use_frameskip": true, "heartbeat_interval": 10, "heartbeat_reporting_interval": 60, "train_for_env_steps": 150000000, "train_for_seconds": 10000000000, "save_every_sec": 120, "keep_checkpoints": 2, "load_checkpoint_kind": "latest", "save_milestones_sec": -1, "save_best_every_sec": 5, "save_best_metric": "reward", "save_best_after": 5000000, "benchmark": false, "encoder_mlp_layers": [ 512, 256, 128 ], "encoder_conv_architecture": "convnet_simple", "encoder_conv_mlp_layers": [ 512 ], "use_rnn": false, "rnn_size": 512, "rnn_type": "gru", "rnn_num_layers": 1, "decoder_mlp_layers": [], "nonlinearity": "elu", "policy_initialization": "torch_default", "policy_init_gain": 1.0, "actor_critic_share_weights": true, "adaptive_stddev": false, "continuous_tanh_scale": 0.0, "initial_stddev": 1.0, "use_env_info_cache": true, "env_gpu_actions": true, "env_gpu_observations": true, "env_frameskip": 1, "env_framestack": 1, "pixel_format": "CHW", "use_record_episode_statistics": false, "with_wandb": true, "wandb_user": null, "wandb_project": "sample_factory", "wandb_group": "isaacgym_allegrohand_sf2_v079_norm_returns", "wandb_job_type": "SF", "wandb_tags": [ "allegrohand", "v079_norm_returns" ], "with_pbt": false, "pbt_mix_policies_in_one_env": true, "pbt_period_env_steps": 5000000, "pbt_start_mutation": 20000000, "pbt_replace_fraction": 0.3, "pbt_mutation_rate": 0.15, "pbt_replace_reward_gap": 0.1, "pbt_replace_reward_gap_absolute": 1e-06, "pbt_optimize_gamma": false, "pbt_target_objective": "true_objective", "pbt_perturb_min": 1.1, "pbt_perturb_max": 1.5, "env_agents": -1, "obs_key": "obs", "subtask": null, "ige_api_version": "preview4", "eval_stats": false, "command_line": "--actor_worker_gpus 0 --wandb_project=sample_factory --env=AllegroHand --train_for_env_steps=150000000 --with_wandb=True --wandb_group=isaacgym_allegrohand_sf2_v079_norm_returns --wandb_tags allegrohand v079_norm_returns --seed=3333 --serial_mode=True --async_rl=False --normalize_returns=True --experiment=04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True --train_dir=./train_dir/allegrohand_v079_norm_returns/allegrohand_v079_norm_returns_slurm", "cli_args": { "env": "AllegroHand", "experiment": "04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True", "train_dir": "./train_dir/allegrohand_v079_norm_returns/allegrohand_v079_norm_returns_slurm", "seed": 3333, "async_rl": false, "serial_mode": true, "normalize_returns": true, "actor_worker_gpus": [ 0 ], "train_for_env_steps": 150000000, "with_wandb": true, "wandb_project": "sample_factory", "wandb_group": "isaacgym_allegrohand_sf2_v079_norm_returns", "wandb_tags": [ "allegrohand", "v079_norm_returns" ] }, "git_hash": "0b1d3fc4f93b814b0987f4f5ac91119ac2078725", "git_repo_name": "https://github.com/andrewzhang505/sample-factory.git", "train_script": "sf_examples.isaacgym_examples.train_isaacgym", "wandb_unique_id": "04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True_20221128_165025_758186" }