A2C playing Walker2DBulletEnv-v0 from https://github.com/sgoodfriend/rl-algo-impls/tree/2067e21d62fff5db60168687e7d9e89019a8bfc0
9c82d00
| CartPole-v1: &cartpole-defaults | |
| n_timesteps: !!float 1e5 | |
| env_hyperparams: | |
| n_envs: 8 | |
| algo_hyperparams: | |
| n_steps: 32 | |
| batch_size: 256 | |
| n_epochs: 20 | |
| gae_lambda: 0.8 | |
| gamma: 0.98 | |
| ent_coef: 0.0 | |
| learning_rate: 0.001 | |
| learning_rate_decay: linear | |
| clip_range: 0.2 | |
| clip_range_decay: linear | |
| eval_params: | |
| step_freq: !!float 2.5e4 | |
| CartPole-v0: | |
| <<: *cartpole-defaults | |
| n_timesteps: !!float 5e4 | |
| MountainCar-v0: | |
| n_timesteps: !!float 1e6 | |
| env_hyperparams: | |
| normalize: true | |
| n_envs: 16 | |
| algo_hyperparams: | |
| n_steps: 16 | |
| n_epochs: 4 | |
| gae_lambda: 0.98 | |
| gamma: 0.99 | |
| ent_coef: 0.0 | |
| MountainCarContinuous-v0: | |
| n_timesteps: !!float 1e5 | |
| env_hyperparams: | |
| normalize: true | |
| n_envs: 4 | |
| # policy_hyperparams: | |
| # init_layers_orthogonal: false | |
| # log_std_init: -3.29 | |
| # use_sde: true | |
| algo_hyperparams: | |
| n_steps: 512 | |
| batch_size: 256 | |
| n_epochs: 10 | |
| learning_rate: !!float 7.77e-5 | |
| ent_coef: 0.01 # 0.00429 | |
| ent_coef_decay: linear | |
| clip_range: 0.1 | |
| gae_lambda: 0.9 | |
| max_grad_norm: 5 | |
| vf_coef: 0.19 | |
| eval_params: | |
| step_freq: 5000 | |
| Acrobot-v1: | |
| n_timesteps: !!float 1e6 | |
| env_hyperparams: | |
| n_envs: 16 | |
| normalize: true | |
| algo_hyperparams: | |
| n_steps: 256 | |
| n_epochs: 4 | |
| gae_lambda: 0.94 | |
| gamma: 0.99 | |
| ent_coef: 0.0 | |
| LunarLander-v2: | |
| n_timesteps: !!float 4e6 | |
| env_hyperparams: | |
| n_envs: 16 | |
| algo_hyperparams: | |
| n_steps: 1024 | |
| batch_size: 64 | |
| n_epochs: 4 | |
| gae_lambda: 0.98 | |
| gamma: 0.999 | |
| learning_rate: !!float 5e-4 | |
| learning_rate_decay: linear | |
| clip_range: 0.2 | |
| clip_range_decay: linear | |
| ent_coef: 0.01 | |
| normalize_advantage: false | |
| BipedalWalker-v3: | |
| n_timesteps: !!float 10e6 | |
| env_hyperparams: | |
| n_envs: 16 | |
| normalize: true | |
| algo_hyperparams: | |
| n_steps: 2048 | |
| batch_size: 64 | |
| gae_lambda: 0.95 | |
| gamma: 0.99 | |
| n_epochs: 10 | |
| ent_coef: 0.001 | |
| learning_rate: !!float 2.5e-4 | |
| learning_rate_decay: linear | |
| clip_range: 0.2 | |
| clip_range_decay: linear | |
| CarRacing-v0: &carracing-defaults | |
| n_timesteps: !!float 4e6 | |
| env_hyperparams: | |
| n_envs: 8 | |
| frame_stack: 4 | |
| policy_hyperparams: &carracing-policy-defaults | |
| use_sde: true | |
| log_std_init: -2 | |
| init_layers_orthogonal: false | |
| activation_fn: relu | |
| share_features_extractor: false | |
| cnn_feature_dim: 256 | |
| hidden_sizes: [256] | |
| algo_hyperparams: | |
| n_steps: 512 | |
| batch_size: 128 | |
| n_epochs: 10 | |
| learning_rate: !!float 1e-4 | |
| learning_rate_decay: linear | |
| gamma: 0.99 | |
| gae_lambda: 0.95 | |
| ent_coef: 0.0 | |
| sde_sample_freq: 4 | |
| max_grad_norm: 0.5 | |
| vf_coef: 0.5 | |
| clip_range: 0.2 | |
| impala-CarRacing-v0: | |
| <<: *carracing-defaults | |
| env_id: CarRacing-v0 | |
| policy_hyperparams: | |
| <<: *carracing-policy-defaults | |
| cnn_style: impala | |
| init_layers_orthogonal: true | |
| cnn_layers_init_orthogonal: false | |
| hidden_sizes: [] | |
| # BreakoutNoFrameskip-v4 | |
| # PongNoFrameskip-v4 | |
| # SpaceInvadersNoFrameskip-v4 | |
| # QbertNoFrameskip-v4 | |
| _atari: &atari-defaults | |
| n_timesteps: !!float 1e7 | |
| env_hyperparams: &atari-env-defaults | |
| n_envs: 8 | |
| frame_stack: 4 | |
| no_reward_timeout_steps: 1000 | |
| no_reward_fire_steps: 500 | |
| vec_env_class: async | |
| policy_hyperparams: &atari-policy-defaults | |
| activation_fn: relu | |
| algo_hyperparams: | |
| n_steps: 128 | |
| batch_size: 256 | |
| n_epochs: 4 | |
| learning_rate: !!float 2.5e-4 | |
| learning_rate_decay: linear | |
| clip_range: 0.1 | |
| clip_range_decay: linear | |
| vf_coef: 0.5 | |
| ent_coef: 0.01 | |
| eval_params: | |
| deterministic: false | |
| _norm-rewards-atari: &norm-rewards-atari-default | |
| <<: *atari-defaults | |
| env_hyperparams: | |
| <<: *atari-env-defaults | |
| clip_atari_rewards: false | |
| normalize: true | |
| normalize_kwargs: | |
| norm_obs: false | |
| norm_reward: true | |
| norm-rewards-BreakoutNoFrameskip-v4: | |
| <<: *norm-rewards-atari-default | |
| env_id: BreakoutNoFrameskip-v4 | |
| debug-PongNoFrameskip-v4: | |
| <<: *atari-defaults | |
| device: cpu | |
| env_id: PongNoFrameskip-v4 | |
| env_hyperparams: | |
| <<: *atari-env-defaults | |
| vec_env_class: sync | |
| _impala-atari: &impala-atari-defaults | |
| <<: *atari-defaults | |
| policy_hyperparams: | |
| <<: *atari-policy-defaults | |
| cnn_style: impala | |
| cnn_feature_dim: 256 | |
| init_layers_orthogonal: true | |
| cnn_layers_init_orthogonal: false | |
| impala-PongNoFrameskip-v4: | |
| <<: *impala-atari-defaults | |
| env_id: PongNoFrameskip-v4 | |
| impala-BreakoutNoFrameskip-v4: | |
| <<: *impala-atari-defaults | |
| env_id: BreakoutNoFrameskip-v4 | |
| impala-SpaceInvadersNoFrameskip-v4: | |
| <<: *impala-atari-defaults | |
| env_id: SpaceInvadersNoFrameskip-v4 | |
| impala-QbertNoFrameskip-v4: | |
| <<: *impala-atari-defaults | |
| env_id: QbertNoFrameskip-v4 | |
| HalfCheetahBulletEnv-v0: &pybullet-defaults | |
| n_timesteps: !!float 2e6 | |
| env_hyperparams: &pybullet-env-defaults | |
| n_envs: 16 | |
| normalize: true | |
| policy_hyperparams: &pybullet-policy-defaults | |
| pi_hidden_sizes: [256, 256] | |
| v_hidden_sizes: [256, 256] | |
| activation_fn: relu | |
| algo_hyperparams: &pybullet-algo-defaults | |
| n_steps: 512 | |
| batch_size: 128 | |
| n_epochs: 20 | |
| gamma: 0.99 | |
| gae_lambda: 0.9 | |
| ent_coef: 0.0 | |
| max_grad_norm: 0.5 | |
| vf_coef: 0.5 | |
| learning_rate: !!float 3e-5 | |
| clip_range: 0.4 | |
| AntBulletEnv-v0: | |
| <<: *pybullet-defaults | |
| policy_hyperparams: | |
| <<: *pybullet-policy-defaults | |
| algo_hyperparams: | |
| <<: *pybullet-algo-defaults | |
| Walker2DBulletEnv-v0: | |
| <<: *pybullet-defaults | |
| algo_hyperparams: | |
| <<: *pybullet-algo-defaults | |
| clip_range_decay: linear | |
| HopperBulletEnv-v0: | |
| <<: *pybullet-defaults | |
| algo_hyperparams: | |
| <<: *pybullet-algo-defaults | |
| clip_range_decay: linear | |
| HumanoidBulletEnv-v0: | |
| <<: *pybullet-defaults | |
| n_timesteps: !!float 1e7 | |
| env_hyperparams: | |
| <<: *pybullet-env-defaults | |
| n_envs: 8 | |
| policy_hyperparams: | |
| <<: *pybullet-policy-defaults | |
| # log_std_init: -1 | |
| algo_hyperparams: | |
| <<: *pybullet-algo-defaults | |
| n_steps: 2048 | |
| batch_size: 64 | |
| n_epochs: 10 | |
| gae_lambda: 0.95 | |
| learning_rate: !!float 2.5e-4 | |
| clip_range: 0.2 | |
| _procgen: &procgen-defaults | |
| env_hyperparams: &procgen-env-defaults | |
| env_type: procgen | |
| n_envs: 64 | |
| # grayscale: false | |
| # frame_stack: 4 | |
| normalize: true # procgen only normalizes reward | |
| make_kwargs: &procgen-make-kwargs-defaults | |
| num_threads: 8 | |
| policy_hyperparams: &procgen-policy-defaults | |
| activation_fn: relu | |
| cnn_style: impala | |
| cnn_feature_dim: 256 | |
| init_layers_orthogonal: true | |
| cnn_layers_init_orthogonal: false | |
| algo_hyperparams: &procgen-algo-defaults | |
| gamma: 0.999 | |
| gae_lambda: 0.95 | |
| n_steps: 256 | |
| batch_size: 2048 | |
| n_epochs: 3 | |
| ent_coef: 0.01 | |
| clip_range: 0.2 | |
| # clip_range_decay: linear | |
| clip_range_vf: 0.2 | |
| learning_rate: !!float 5e-4 | |
| # learning_rate_decay: linear | |
| vf_coef: 0.5 | |
| eval_params: &procgen-eval-defaults | |
| ignore_first_episode: true | |
| # deterministic: false | |
| step_freq: !!float 1e5 | |
| _procgen-easy: &procgen-easy-defaults | |
| <<: *procgen-defaults | |
| n_timesteps: !!float 25e6 | |
| env_hyperparams: &procgen-easy-env-defaults | |
| <<: *procgen-env-defaults | |
| make_kwargs: | |
| <<: *procgen-make-kwargs-defaults | |
| distribution_mode: easy | |
| procgen-coinrun-easy: &coinrun-easy-defaults | |
| <<: *procgen-easy-defaults | |
| env_id: coinrun | |
| debug-procgen-coinrun: | |
| <<: *coinrun-easy-defaults | |
| device: cpu | |
| procgen-starpilot-easy: | |
| <<: *procgen-easy-defaults | |
| env_id: starpilot | |
| procgen-bossfight-easy: | |
| <<: *procgen-easy-defaults | |
| env_id: bossfight | |
| procgen-bigfish-easy: | |
| <<: *procgen-easy-defaults | |
| env_id: bigfish | |
| _procgen-hard: &procgen-hard-defaults | |
| <<: *procgen-defaults | |
| n_timesteps: !!float 200e6 | |
| env_hyperparams: &procgen-hard-env-defaults | |
| <<: *procgen-env-defaults | |
| n_envs: 256 | |
| make_kwargs: | |
| <<: *procgen-make-kwargs-defaults | |
| distribution_mode: hard | |
| algo_hyperparams: &procgen-hard-algo-defaults | |
| <<: *procgen-algo-defaults | |
| batch_size: 8192 | |
| clip_range_decay: linear | |
| learning_rate_decay: linear | |
| eval_params: | |
| <<: *procgen-eval-defaults | |
| step_freq: !!float 5e5 | |
| procgen-starpilot-hard: &procgen-starpilot-hard-defaults | |
| <<: *procgen-hard-defaults | |
| env_id: starpilot | |
| procgen-starpilot-hard-2xIMPALA: | |
| <<: *procgen-starpilot-hard-defaults | |
| policy_hyperparams: | |
| <<: *procgen-policy-defaults | |
| impala_channels: [32, 64, 64] | |
| algo_hyperparams: | |
| <<: *procgen-hard-algo-defaults | |
| learning_rate: !!float 3.3e-4 | |
| procgen-starpilot-hard-2xIMPALA-fat: | |
| <<: *procgen-starpilot-hard-defaults | |
| policy_hyperparams: | |
| <<: *procgen-policy-defaults | |
| impala_channels: [32, 64, 64] | |
| cnn_feature_dim: 512 | |
| algo_hyperparams: | |
| <<: *procgen-hard-algo-defaults | |
| learning_rate: !!float 2.5e-4 | |
| procgen-starpilot-hard-4xIMPALA: | |
| <<: *procgen-starpilot-hard-defaults | |
| policy_hyperparams: | |
| <<: *procgen-policy-defaults | |
| impala_channels: [64, 128, 128] | |
| algo_hyperparams: | |
| <<: *procgen-hard-algo-defaults | |
| learning_rate: !!float 2.1e-4 | |