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quad-swarm-rl-multi-drone-obstacles

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quad-swarm-rl-multi-drone-obstacles
File size: 8,847 Bytes 
cfc5d03
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
  "help": false,
  "algo": "APPO",
  "env": "quadrotor_multi",
  "experiment": "01_baseline_multi_drone_obstacle_see_1111",
  "train_dir": "./train_dir/quad_multi_baseline_obstacle/baseline_multi_drone_obstacle_",
  "restart_behavior": "resume",
  "device": "gpu",
  "seed": 1111,
  "num_policies": 1,
  "async_rl": true,
  "serial_mode": false,
  "batched_sampling": true,
  "num_batches_to_accumulate": 8,
  "worker_num_splits": 2,
  "policy_workers_per_policy": 1,
  "max_policy_lag": 100000000,
  "num_workers": 36,
  "num_envs_per_worker": 4,
  "batch_size": 1024,
  "num_batches_per_epoch": 1,
  "num_epochs": 1,
  "rollout": 128,
  "recurrence": 1,
  "shuffle_minibatches": false,
  "gamma": 0.99,
  "reward_scale": 1.0,
  "reward_clip": 1000.0,
  "value_bootstrap": false,
  "normalize_returns": true,
  "exploration_loss_coeff": 0.0,
  "value_loss_coeff": 0.5,
  "kl_loss_coeff": 0.0,
  "exploration_loss": "entropy",
  "gae_lambda": 1.0,
  "ppo_clip_ratio": 0.1,
  "ppo_clip_value": 5.0,
  "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": 5.0,
  "learning_rate": 0.0001,
  "lr_schedule": "constant",
  "lr_schedule_kl_threshold": 0.008,
  "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": [],
  "set_workers_cpu_affinity": true,
  "force_envs_single_thread": false,
  "default_niceness": 0,
  "experiment_summaries_interval": 60,
  "stats_avg": 100,
  "summaries_use_frameskip": true,
  "heartbeat_interval": 10,
  "heartbeat_reporting_interval": 60,
  "train_for_env_steps": 10000000000,
  "train_for_seconds": 10000000000,
  "save_every_sec": 120,
  "keep_checkpoints": 3,
  "load_checkpoint_kind": "latest",
  "save_milestones_sec": 10000,
  "save_best_every_sec": 5,
  "save_best_metric": "reward",
  "save_best_after": 100000,
  "benchmark": false,
  "encoder_type": "mlp",
  "encoder_subtype": "mlp_quads",
  "encoder_custom": "quad_multi_encoder",
  "encoder_extra_fc_layers": 0,
  "hidden_size": 256,
  "nonlinearity": "tanh",
  "policy_initialization": "xavier_uniform",
  "policy_init_gain": 1.0,
  "actor_critic_share_weights": false,
  "adaptive_stddev": false,
  "initial_stddev": 1.0,
  "use_rnn": false,
  "rnn_type": "gru",
  "rnn_num_layers": 1,
  "use_env_info_cache": false,
  "env_gpu_actions": false,
  "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": null,
  "wandb_job_type": "SF",
  "wandb_tags": [
    "multi",
    "obstacles"
  ],
  "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_batch_size": false,
  "pbt_optimize_gamma": false,
  "pbt_target_objective": "true_objective",
  "pbt_perturb_min": 1.05,
  "pbt_perturb_max": 1.5,
  "quads_discretize_actions": -1,
  "quads_clip_input": false,
  "quads_effort_reward": null,
  "quads_episode_duration": 15.0,
  "quads_num_agents": 8,
  "quads_neighbor_hidden_size": 256,
  "quads_neighbor_encoder_type": "attention",
  "quads_collision_reward": 5.0,
  "quads_collision_obstacle_reward": 5.0,
  "quads_settle_reward": 0.0,
  "quads_settle": false,
  "quads_vel_reward_out_range": 0.8,
  "quads_settle_range_meters": 1.0,
  "quads_collision_hitbox_radius": 2.0,
  "quads_collision_falloff_radius": 4.0,
  "quads_collision_smooth_max_penalty": 10.0,
  "neighbor_obs_type": "pos_vel",
  "quads_use_numba": true,
  "quads_obstacle_mode": "dynamic",
  "quads_obstacle_num": 1,
  "quads_obstacle_type": "sphere",
  "quads_obstacle_size": 0.0,
  "quads_obstacle_traj": "mix",
  "quads_local_obs": 6,
  "quads_local_coeff": 1.0,
  "quads_local_metric": "dist",
  "quads_view_mode": "local",
  "quads_adaptive_env": false,
  "quads_mode": "mix",
  "quads_formation": "circle_horizontal",
  "quads_formation_size": 0.0,
  "room_dims": [
    10,
    10,
    10
  ],
  "quads_obs_repr": "xyz_vxyz_R_omega",
  "replay_buffer_sample_prob": 0.0,
  "anneal_collision_steps": 300000000.0,
  "quads_obstacle_obs_mode": "absolute",
  "quads_obstacle_hidden_size": 256,
  "quads_collision_obst_smooth_max_penalty": 10.0,
  "quads_obst_penalty_fall_off": 10.0,
  "use_spectral_norm": false,
  "command_line": "--env=quadrotor_multi --train_for_env_steps=1000000000 --algo=APPO --use_rnn=False --num_workers=36 --num_envs_per_worker=4 --learning_rate=0.0001 --ppo_clip_value=5.0 --recurrence=1 --nonlinearity=tanh --actor_critic_share_weights=False --policy_initialization=xavier_uniform --adaptive_stddev=False --with_vtrace=False --max_policy_lag=100000000 --hidden_size=256 --gae_lambda=1.00 --max_grad_norm=5.0 --exploration_loss_coeff=0.0 --rollout=128 --batch_size=1024 --quads_use_numba=True --quads_mode=mix --quads_episode_duration=15.0 --quads_formation_size=0.0 --encoder_custom=quad_multi_encoder --quads_collision_reward=5.0 --quads_neighbor_hidden_size=256 --neighbor_obs_type=pos_vel --quads_settle_reward=0.0 --quads_collision_hitbox_radius=2.0 --quads_collision_falloff_radius=4.0 --quads_local_obs=6 --quads_local_metric=dist --quads_local_coeff=1.0 --quads_num_agents=8 --quads_collision_reward=5.0 --quads_collision_smooth_max_penalty=10.0 --quads_neighbor_encoder_type=attention --replay_buffer_sample_prob=0.75 --anneal_collision_steps=300000000 --train_for_env_steps=10000000000 --num_workers=36 --num_envs_per_worker=4 --quads_num_agents=8 --save_milestones_sec=10000 --async_rl=True --num_batches_to_accumulate=8 --serial_mode=False --batched_sampling=True --normalize_input=True --normalize_returns=True --with_wandb=True --wandb_tags multi obstacles --quads_obstacle_mode=dynamic --quads_obstacle_num=1 --quads_obstacle_type=sphere --quads_obstacle_traj=mix --quads_collision_obstacle_reward=5.0 --quads_obstacle_obs_mode=absolute --quads_collision_obst_smooth_max_penalty=10.0 --quads_obstacle_hidden_size=256 --replay_buffer_sample_prob=0.0 --quads_obst_penalty_fall_off=10.0 --seed=1111 --experiment=01_baseline_multi_drone_obstacle_see_1111 --train_dir=./train_dir/quad_multi_baseline_obstacle/baseline_multi_drone_obstacle_",
  "cli_args": {
    "algo": "APPO",
    "env": "quadrotor_multi",
    "experiment": "01_baseline_multi_drone_obstacle_see_1111",
    "train_dir": "./train_dir/quad_multi_baseline_obstacle/baseline_multi_drone_obstacle_",
    "seed": 1111,
    "async_rl": true,
    "serial_mode": false,
    "batched_sampling": true,
    "num_batches_to_accumulate": 8,
    "max_policy_lag": 100000000,
    "num_workers": 36,
    "num_envs_per_worker": 4,
    "batch_size": 1024,
    "rollout": 128,
    "recurrence": 1,
    "normalize_returns": true,
    "exploration_loss_coeff": 0.0,
    "gae_lambda": 1.0,
    "ppo_clip_value": 5.0,
    "with_vtrace": false,
    "max_grad_norm": 5.0,
    "learning_rate": 0.0001,
    "normalize_input": true,
    "train_for_env_steps": 10000000000,
    "save_milestones_sec": 10000,
    "encoder_custom": "quad_multi_encoder",
    "hidden_size": 256,
    "nonlinearity": "tanh",
    "policy_initialization": "xavier_uniform",
    "actor_critic_share_weights": false,
    "adaptive_stddev": false,
    "use_rnn": false,
    "with_wandb": true,
    "wandb_tags": [
      "multi",
      "obstacles"
    ],
    "quads_episode_duration": 15.0,
    "quads_num_agents": 8,
    "quads_neighbor_hidden_size": 256,
    "quads_neighbor_encoder_type": "attention",
    "quads_collision_reward": 5.0,
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    "quads_collision_hitbox_radius": 2.0,
    "quads_collision_falloff_radius": 4.0,
    "quads_collision_smooth_max_penalty": 10.0,
    "neighbor_obs_type": "pos_vel",
    "quads_use_numba": true,
    "quads_obstacle_mode": "dynamic",
    "quads_obstacle_num": 1,
    "quads_obstacle_type": "sphere",
    "quads_obstacle_traj": "mix",
    "quads_local_obs": 6,
    "quads_local_coeff": 1.0,
    "quads_local_metric": "dist",
    "quads_mode": "mix",
    "quads_formation_size": 0.0,
    "replay_buffer_sample_prob": 0.0,
    "anneal_collision_steps": 300000000.0,
    "quads_obstacle_obs_mode": "absolute",
    "quads_obstacle_hidden_size": 256,
    "quads_collision_obst_smooth_max_penalty": 10.0,
    "quads_obst_penalty_fall_off": 10.0
  },
  "git_hash": "1da4ae5b50d4d0dbca38398d7280ca2a5e6930e2",
  "git_repo_name": "https://github.com/andrewzhang505/sample-factory.git",
  "wandb_unique_id": "01_baseline_multi_drone_obstacle_see_1111_20220817_164609_222944"
}