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  1. cfg.json +139 -0
cfg.json ADDED
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+ {
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+ "help": false,
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+ "algo": "APPO",
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+ "env": "BallBalance",
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+ "experiment": "BallBalance_1111",
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+ "train_dir": "/gpfsssd/scratch/rech/ajs/utv52ia/isaacgym/sample-factory/train_dir",
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+ "restart_behavior": "resume",
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+ "device": "gpu",
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+ "seed": 1111,
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+ "num_policies": 1,
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+ "async_rl": false,
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+ "serial_mode": true,
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+ "batched_sampling": true,
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+ "num_batches_to_accumulate": 2,
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+ "worker_num_splits": 1,
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+ "policy_workers_per_policy": 1,
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+ "max_policy_lag": 1000,
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+ "num_workers": 1,
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+ "num_envs_per_worker": 1,
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+ "batch_size": 32768,
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+ "num_batches_per_epoch": 8,
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+ "num_epochs": 5,
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+ "rollout": 16,
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+ "recurrence": 1,
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+ "shuffle_minibatches": false,
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+ "gamma": 0.99,
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+ "reward_scale": 0.01,
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+ "reward_clip": 1000.0,
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+ "value_bootstrap": true,
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+ "normalize_returns": true,
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+ "exploration_loss_coeff": 0.0,
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+ "value_loss_coeff": 2.0,
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+ "kl_loss_coeff": 0.0,
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+ "exploration_loss": "entropy",
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+ "gae_lambda": 0.95,
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+ "ppo_clip_ratio": 0.2,
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+ "ppo_clip_value": 1.0,
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+ "with_vtrace": false,
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+ "vtrace_rho": 1.0,
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+ "vtrace_c": 1.0,
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+ "optimizer": "adam",
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+ "adam_eps": 1e-06,
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+ "adam_beta1": 0.9,
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+ "adam_beta2": 0.999,
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+ "max_grad_norm": 1.0,
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+ "learning_rate": 0.0003,
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+ "lr_schedule": "kl_adaptive_epoch",
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+ "lr_schedule_kl_threshold": 0.008,
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+ "obs_subtract_mean": 0.0,
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+ "obs_scale": 1.0,
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+ "normalize_input": true,
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+ "normalize_input_keys": null,
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+ "decorrelate_experience_max_seconds": 0,
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+ "decorrelate_envs_on_one_worker": true,
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+ "actor_worker_gpus": [
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+ 0
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+ ],
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+ "set_workers_cpu_affinity": true,
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+ "force_envs_single_thread": false,
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+ "default_niceness": 0,
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+ "log_to_file": true,
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+ "experiment_summaries_interval": 10,
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+ "flush_summaries_interval": 30,
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+ "stats_avg": 100,
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+ "summaries_use_frameskip": true,
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+ "heartbeat_interval": 20,
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+ "heartbeat_reporting_interval": 180,
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+ "train_for_env_steps": 1000000000,
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+ "train_for_seconds": 10000000000,
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+ "save_every_sec": 120,
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+ "keep_checkpoints": 2,
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+ "load_checkpoint_kind": "latest",
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+ "save_milestones_sec": -1,
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+ "save_best_every_sec": 5,
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+ "save_best_metric": "reward",
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+ "save_best_after": 5000000,
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+ "benchmark": false,
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+ "encoder_mlp_layers": [
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+ 128,
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+ 64,
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+ 32
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+ ],
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+ "encoder_conv_architecture": "convnet_simple",
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+ "encoder_conv_mlp_layers": [
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+ 512
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+ ],
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+ "use_rnn": false,
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+ "rnn_size": 512,
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+ "rnn_type": "gru",
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+ "rnn_num_layers": 1,
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+ "decoder_mlp_layers": [],
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+ "nonlinearity": "elu",
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+ "policy_initialization": "torch_default",
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+ "policy_init_gain": 1.0,
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+ "actor_critic_share_weights": true,
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+ "adaptive_stddev": false,
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+ "continuous_tanh_scale": 0.0,
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+ "initial_stddev": 1.0,
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+ "use_env_info_cache": true,
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+ "env_gpu_actions": true,
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+ "env_gpu_observations": true,
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+ "env_frameskip": 1,
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+ "env_framestack": 1,
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+ "pixel_format": "CHW",
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+ "use_record_episode_statistics": false,
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+ "with_wandb": false,
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+ "wandb_user": null,
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+ "wandb_project": "sample_factory",
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+ "wandb_group": null,
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+ "wandb_job_type": "SF",
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+ "wandb_tags": [],
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+ "with_pbt": false,
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+ "pbt_mix_policies_in_one_env": true,
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+ "pbt_period_env_steps": 5000000,
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+ "pbt_start_mutation": 20000000,
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+ "pbt_replace_fraction": 0.3,
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+ "pbt_mutation_rate": 0.15,
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+ "pbt_replace_reward_gap": 0.1,
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+ "pbt_replace_reward_gap_absolute": 1e-06,
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+ "pbt_optimize_gamma": false,
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+ "pbt_target_objective": "true_objective",
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+ "pbt_perturb_min": 1.1,
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+ "pbt_perturb_max": 1.5,
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+ "env_agents": -1,
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+ "obs_key": "obs",
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+ "subtask": null,
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+ "ige_api_version": "preview4",
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+ "eval_stats": false,
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+ "command_line": "--seed=1111 --experiment=BallBalance_1111 --env=BallBalance --train_for_env_steps=1000000000",
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+ "cli_args": {
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+ "env": "BallBalance",
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+ "experiment": "BallBalance_1111",
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+ "seed": 1111,
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+ "train_for_env_steps": 1000000000
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+ },
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+ "git_hash": "a79821cb7657bf600e5eb05db9b797b132737468",
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+ "git_repo_name": "https://github.com/alex-petrenko/sample-factory.git",
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+ "train_script": "sf_examples.isaacgym_examples.train_isaacgym"
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+ }