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--- |
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library_name: skrl |
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tags: |
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- deep-reinforcement-learning |
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- reinforcement-learning |
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- skrl |
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model-index: |
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- name: PPO |
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results: |
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- metrics: |
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- type: mean_reward |
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value: 61.68 +/- 2.18 |
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name: Total reward (mean) |
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task: |
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type: reinforcement-learning |
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name: reinforcement-learning |
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dataset: |
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name: IsaacGymEnvs-Anymal |
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type: IsaacGymEnvs-Anymal |
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--- |
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<!-- --- |
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torch: 61.68 +/- 2.18 |
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jax: 61.31 +/- 1.39 |
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numpy: 59.62 +/- 1.85 |
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--- --> |
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# IsaacGymEnvs-Anymal-PPO |
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Trained agent for [NVIDIA Isaac Gym Preview](https://github.com/NVIDIA-Omniverse/IsaacGymEnvs) environments. |
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- **Task:** Anymal |
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- **Agent:** [PPO](https://skrl.readthedocs.io/en/latest/api/agents/ppo.html) |
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# Usage (with skrl) |
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Note: Visit the skrl [Examples](https://skrl.readthedocs.io/en/latest/intro/examples.html) section to access the scripts. |
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* PyTorch |
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```python |
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from skrl.utils.huggingface import download_model_from_huggingface |
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# assuming that there is an agent named `agent` |
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path = download_model_from_huggingface("skrl/IsaacGymEnvs-Anymal-PPO", filename="agent.pt") |
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agent.load(path) |
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``` |
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* JAX |
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```python |
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from skrl.utils.huggingface import download_model_from_huggingface |
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# assuming that there is an agent named `agent` |
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path = download_model_from_huggingface("skrl/IsaacGymEnvs-Anymal-PPO", filename="agent.pickle") |
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agent.load(path) |
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``` |
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# Hyperparameters |
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Note: Undefined parameters keep their values by default. |
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```python |
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# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters |
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cfg = PPO_DEFAULT_CONFIG.copy() |
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cfg["rollouts"] = 24 # memory_size |
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cfg["learning_epochs"] = 5 |
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cfg["mini_batches"] = 3 # 24 * 4096 / 32768 |
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cfg["discount_factor"] = 0.99 |
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cfg["lambda"] = 0.95 |
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cfg["learning_rate"] = 3e-4 |
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cfg["learning_rate_scheduler"] = KLAdaptiveRL |
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cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008} |
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cfg["random_timesteps"] = 0 |
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cfg["learning_starts"] = 0 |
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cfg["grad_norm_clip"] = 1.0 |
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cfg["ratio_clip"] = 0.2 |
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cfg["value_clip"] = 0.2 |
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cfg["clip_predicted_values"] = True |
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cfg["entropy_loss_scale"] = 0.0 |
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cfg["value_loss_scale"] = 1.0 |
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cfg["kl_threshold"] = 0 |
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cfg["rewards_shaper"] = None |
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cfg["state_preprocessor"] = RunningStandardScaler |
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cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device} |
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cfg["value_preprocessor"] = RunningStandardScaler |
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cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device} |
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``` |
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