| { | |
| "obs_dim": 358, | |
| "action_dim": 69, | |
| "device": "cpu", | |
| "archi": { | |
| "z_dim": 256, | |
| "norm_z": true, | |
| "f": { | |
| "hidden_dim": 1024, | |
| "model": "simple", | |
| "hidden_layers": 2, | |
| "embedding_layers": 2, | |
| "num_parallel": 2, | |
| "ensemble_mode": "batch" | |
| }, | |
| "b": { | |
| "hidden_dim": 256, | |
| "hidden_layers": 1, | |
| "norm": true | |
| }, | |
| "actor": { | |
| "hidden_dim": 1024, | |
| "model": "simple", | |
| "hidden_layers": 2, | |
| "embedding_layers": 2 | |
| }, | |
| "critic": { | |
| "hidden_dim": 1024, | |
| "model": "simple", | |
| "hidden_layers": 2, | |
| "embedding_layers": 2, | |
| "num_parallel": 2, | |
| "ensemble_mode": "batch" | |
| }, | |
| "discriminator": { | |
| "hidden_dim": 1024, | |
| "hidden_layers": 3 | |
| } | |
| }, | |
| "inference_batch_size": 500000, | |
| "seq_length": 8, | |
| "actor_std": 0.2, | |
| "norm_obs": true | |
| } |