71 lines
1.4 KiB
YAML
71 lines
1.4 KiB
YAML
# Custom Main Configuration
|
|
#
|
|
# Use with:
|
|
# uv run python scripts/train.py --config-name main_config_custom
|
|
#
|
|
# This keeps the project defaults intact while giving you a single custom
|
|
# training entrypoint you can edit freely.
|
|
|
|
defaults:
|
|
- brittle_star_config
|
|
- experiment: base
|
|
- logging: default
|
|
- evaluation: default
|
|
- ppo: default
|
|
- architecture: centralized
|
|
- morphology: 5_arms_full
|
|
- arena: default
|
|
- environment: directed_locomotion
|
|
- simulation: default
|
|
- _self_
|
|
|
|
morphology:
|
|
morph_mode: CENTRALIZED
|
|
|
|
experiment:
|
|
exp_name: "final-models/centralized/"
|
|
seed: 42
|
|
torch_deterministic: true
|
|
cuda: true
|
|
|
|
logging:
|
|
track: true
|
|
save_model: true
|
|
save_checkpoints: true
|
|
upload_final_model: true
|
|
upload_checkpoints: true
|
|
checkpoint_frequency: 20
|
|
wandb_project_name: "final-models"
|
|
|
|
evaluation:
|
|
evaluate_checkpoints: true
|
|
eval_max_steps: 2000
|
|
eval_seed: 0
|
|
|
|
ppo:
|
|
learning_rate: 0.0001
|
|
total_timesteps: 16384000
|
|
num_envs: 128
|
|
num_steps: 64
|
|
anneal_lr: true
|
|
gamma: 0.99
|
|
gae_lambda: 0.95
|
|
num_minibatches: 32
|
|
update_epochs: 4
|
|
norm_adv: true
|
|
clip_coef: 0.2
|
|
clip_vloss: true
|
|
ent_coef: 0.001
|
|
vf_coef: 1.0
|
|
max_grad_norm: 0.5
|
|
target_kl: 0.02
|
|
|
|
environment:
|
|
simulation_time: 100000.0
|
|
target_distance: 3.0
|
|
|
|
hydra:
|
|
job:
|
|
chdir: true
|
|
run:
|
|
dir: ${experiment.base_run_dir}/${experiment.exp_name}/${now:%Y-%m-%d}/${now:%H-%M-%S}
|