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env_config.py
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group = "default"
seed = 0
brax_env_config = {
"walker2d": {
"SEED": seed,
"NUM_ENVS": 32,
"NUM_STEPS": 640,
"UPDATE_EPOCHS": 4,
"NUM_MINIBATCHES": 32,
"GAMMA": 0.99,
"GAE_LAMBDA": 0.95,
"CLIP_EPS": 0.2,
"ENT_COEF": 0.0,
"VF_COEF": 0.5,
"ACTIVATION": "tanh",
"ANNEAL_LR": False,
"NORMALIZE_ENV": True,
"DEBUG": True,
"Group": group,
"actor-LR": 3e-4,
"critic-LR": 1.2e-3,
# Nystrom Specific Parameters
"vanilla": {"value": False},
"nystrom_rank": {"value": 5},
"nystrom_rho": {"value": 50},
"TOTAL_TIMESTEPS": 2e7,
"nested_updates": 3,
"IHVP_BOUND": 0.8,
"CLIP_F": 0.84,
},
"hopper": {
"SEED": seed,
"NUM_ENVS": 32,
"NUM_STEPS": 640,
"UPDATE_EPOCHS": 4,
"NUM_MINIBATCHES": 32,
"GAMMA": 0.99,
"GAE_LAMBDA": 0.95,
"CLIP_EPS": 0.2,
"ENT_COEF": 0.0,
"VF_COEF": 0.5,
"ACTIVATION": "tanh",
"ANNEAL_LR": False,
"NORMALIZE_ENV": True,
"DEBUG": True,
"Group": group,
"actor-LR": 3e-4,
"critic-LR": 1.2e-3,
# Nystrom Specific Parameters
"vanilla": {"value": False},
"nystrom_rank": {"value": 5},
"nystrom_rho": {"value": 50},
"TOTAL_TIMESTEPS": 5e6,
"nested_updates": 3,
"IHVP_BOUND": 1.4,
"CLIP_F": 1.0,
},
"humanoid": {
"SEED": seed,
"NUM_ENVS": 32,
"NUM_STEPS": 640,
"UPDATE_EPOCHS": 4,
"NUM_MINIBATCHES": 32,
"GAMMA": 0.99,
"GAE_LAMBDA": 0.95,
"CLIP_EPS": 0.2,
"ENT_COEF": 0.0,
"VF_COEF": 0.5,
"ACTIVATION": "tanh",
"ANNEAL_LR": False,
"NORMALIZE_ENV": True,
"DEBUG": True,
"Group": group,
"actor-LR": 3e-4,
"critic-LR": 1.2e-3,
# Nystrom Specific Parameters
"vanilla": {"value": False},
"nystrom_rank": {"value": 5},
"nystrom_rho": {"value": 50},
"TOTAL_TIMESTEPS": 2e7,
"nested_updates": 5,
"IHVP_BOUND": 1,
"CLIP_F": 0.8,
},
"halfcheetah": {
"SEED": seed,
"NUM_ENVS": 32,
"NUM_STEPS": 640,
"UPDATE_EPOCHS": 4,
"NUM_MINIBATCHES": 32,
"GAMMA": 0.99,
"GAE_LAMBDA": 0.95,
"CLIP_EPS": 0.2,
"ENT_COEF": 0.0,
"VF_COEF": 0.5,
"ACTIVATION": "tanh",
"ANNEAL_LR": False,
"NORMALIZE_ENV": True,
"DEBUG": True,
"Group": group,
"actor-LR": 3e-4,
"critic-LR": 1.2e-3,
# Nystrom Specific Parameters
"vanilla": {"value": False},
"nystrom_rank": {"value": 5},
"nystrom_rho": {"value": 50},
"TOTAL_TIMESTEPS": 2e7,
"nested_updates": 7,
"IHVP_BOUND": 1.4,
"CLIP_F": 0.7,
},
}
classic_env_config = {
"CartPole-v1": {
"SEED": seed,
"NUM_ENVS": 4,
"NUM_STEPS": 128,
"UPDATE_EPOCHS": 4,
"NUM_MINIBATCHES": 32,
"GAMMA": 0.99,
"GAE_LAMBDA": 0.95,
"CLIP_EPS": 0.2,
"ENT_COEF": 0.0,
"VF_COEF": 0.5,
"ACTIVATION": "tanh",
"ANNEAL_LR": False,
"NORMALIZE_ENV": True,
"DEBUG": True,
"Group": group,
"actor-LR": 3e-4,
"critic-LR": 1.2e-3,
# Nystrom Specific Parameters
"vanilla": {"value": False},
"nystrom_rank": {"value": 5},
"nystrom_rho": {"value": 50},
"TOTAL_TIMESTEPS": 5e5,
"nested_updates": 10,
"IHVP_BOUND": 1.4,
"CLIP_F": 1.0,
}
}