| { |
| "type": "sac", |
| "n_obs_steps": 1, |
| "normalization_mapping": { |
| "VISUAL": "MEAN_STD", |
| "STATE": "MIN_MAX", |
| "ENV": "MIN_MAX", |
| "ACTION": "MIN_MAX" |
| }, |
| "input_features": { |
| "observation.images.front": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.images.wrist": { |
| "type": "VISUAL", |
| "shape": [ |
| 3, |
| 128, |
| 128 |
| ] |
| }, |
| "observation.state": { |
| "type": "STATE", |
| "shape": [ |
| 18 |
| ] |
| } |
| }, |
| "output_features": { |
| "action": { |
| "type": "ACTION", |
| "shape": [ |
| 3 |
| ] |
| } |
| }, |
| "device": "cuda", |
| "use_amp": false, |
| "push_to_hub": true, |
| "repo_id": "yfynb1111/sac", |
| "private": null, |
| "tags": null, |
| "license": null, |
| "dataset_stats": { |
| "observation.images.front": { |
| "mean": [ |
| 0.485, |
| 0.456, |
| 0.406 |
| ], |
| "std": [ |
| 0.229, |
| 0.224, |
| 0.225 |
| ] |
| }, |
| "observation.images.wrist": { |
| "mean": [ |
| 0.485, |
| 0.456, |
| 0.406 |
| ], |
| "std": [ |
| 0.229, |
| 0.224, |
| 0.225 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -0.6897139549255371, |
| -1.1421763896942139, |
| -0.5745007991790771, |
| -2.97829008102417, |
| -0.2710767090320587, |
| 1.3246592283248901, |
| -0.04057434946298599, |
| -0.21261805295944214, |
| -0.4548068344593048, |
| -0.6540042757987976, |
| -0.3644964098930359, |
| -1.1057522296905518, |
| -0.40768879652023315, |
| -0.2220114767551422, |
| 0.0, |
| 0.19176171720027924, |
| -0.3013063669204712, |
| 0.00362197193317115 |
| ], |
| "max": [ |
| 0.5107022523880005, |
| 0.5516204237937927, |
| 0.5620884299278259, |
| -1.3330878019332886, |
| 0.32758936285972595, |
| 3.119610548019409, |
| 1.8364211320877075, |
| 0.25358933210372925, |
| 0.36316126585006714, |
| 0.14765967428684235, |
| 0.49947625398635864, |
| 0.144814133644104, |
| 0.2820609211921692, |
| 0.7382049560546875, |
| 255.0, |
| 0.6012658476829529, |
| 0.3005995750427246, |
| 0.5004003643989563 |
| ] |
| } |
| }, |
| "storage_device": "cpu", |
| "vision_encoder_name": "helper2424/resnet10", |
| "freeze_vision_encoder": true, |
| "image_encoder_hidden_dim": 32, |
| "shared_encoder": true, |
| "num_discrete_actions": 3, |
| "image_embedding_pooling_dim": 8, |
| "online_steps": 1000000, |
| "online_env_seed": 10000, |
| "online_buffer_capacity": 100000, |
| "offline_buffer_capacity": 100000, |
| "async_prefetch": false, |
| "online_step_before_learning": 100, |
| "policy_update_freq": 1, |
| "discount": 0.97, |
| "temperature_init": 0.01, |
| "num_critics": 2, |
| "num_subsample_critics": null, |
| "critic_lr": 0.0003, |
| "actor_lr": 0.0003, |
| "temperature_lr": 0.0003, |
| "critic_target_update_weight": 0.005, |
| "utd_ratio": 2, |
| "state_encoder_hidden_dim": 256, |
| "latent_dim": 64, |
| "target_entropy": null, |
| "use_backup_entropy": true, |
| "grad_clip_norm": 10.0, |
| "critic_network_kwargs": { |
| "hidden_dims": [ |
| 256, |
| 256 |
| ], |
| "activate_final": true, |
| "final_activation": null |
| }, |
| "actor_network_kwargs": { |
| "hidden_dims": [ |
| 256, |
| 256 |
| ], |
| "activate_final": true |
| }, |
| "policy_kwargs": { |
| "use_tanh_squash": true, |
| "std_min": 1e-05, |
| "std_max": 5.0, |
| "init_final": 0.05 |
| }, |
| "discrete_critic_network_kwargs": { |
| "hidden_dims": [ |
| 256, |
| 256 |
| ], |
| "activate_final": true, |
| "final_activation": null |
| }, |
| "actor_learner_config": { |
| "learner_host": "127.0.0.1", |
| "learner_port": 50051, |
| "policy_parameters_push_frequency": 4, |
| "queue_get_timeout": 2 |
| }, |
| "concurrency": { |
| "actor": "threads", |
| "learner": "threads" |
| }, |
| "use_torch_compile": true |
| } |
