Hugging Face's logo

andrewzhang505
/
isaacgym_allegrohand

Reinforcement Learning
sample-factory
TensorBoard
deep-reinforcement-learning
Eval Results
Model card Files Metrics Community
1
isaacgym_allegrohand
File size: 5,007 Bytes 
e4068a7
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
2ef86fc
e4068a7
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
 
{
  "help": false,
  "algo": "APPO",
  "env": "AllegroHand",
  "experiment": "04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True",
  "train_dir": "./train_dir/allegrohand_v079_norm_returns/allegrohand_v079_norm_returns_slurm",
  "restart_behavior": "resume",
  "device": "gpu",
  "seed": 3333,
  "num_policies": 1,
  "async_rl": false,
  "serial_mode": true,
  "batched_sampling": true,
  "num_batches_to_accumulate": 2,
  "worker_num_splits": 1,
  "policy_workers_per_policy": 1,
  "max_policy_lag": 1000,
  "num_workers": 1,
  "num_envs_per_worker": 1,
  "batch_size": 32768,
  "num_batches_per_epoch": 8,
  "num_epochs": 5,
  "rollout": 16,
  "recurrence": 16,
  "shuffle_minibatches": false,
  "gamma": 0.99,
  "reward_scale": 0.01,
  "reward_clip": 1000.0,
  "value_bootstrap": true,
  "normalize_returns": true,
  "exploration_loss_coeff": 0.0,
  "value_loss_coeff": 2.0,
  "kl_loss_coeff": 0.0,
  "exploration_loss": "entropy",
  "gae_lambda": 0.95,
  "ppo_clip_ratio": 0.2,
  "ppo_clip_value": 1.0,
  "with_vtrace": false,
  "vtrace_rho": 1.0,
  "vtrace_c": 1.0,
  "optimizer": "adam",
  "adam_eps": 1e-06,
  "adam_beta1": 0.9,
  "adam_beta2": 0.999,
  "max_grad_norm": 1.0,
  "learning_rate": 0.005,
  "lr_schedule": "kl_adaptive_epoch",
  "lr_schedule_kl_threshold": 0.02,
  "obs_subtract_mean": 0.0,
  "obs_scale": 1.0,
  "normalize_input": true,
  "normalize_input_keys": null,
  "decorrelate_experience_max_seconds": 0,
  "decorrelate_envs_on_one_worker": true,
  "actor_worker_gpus": [
    0
  ],
  "set_workers_cpu_affinity": true,
  "force_envs_single_thread": false,
  "default_niceness": 0,
  "log_to_file": true,
  "experiment_summaries_interval": 10,
  "flush_summaries_interval": 30,
  "stats_avg": 100,
  "summaries_use_frameskip": true,
  "heartbeat_interval": 10,
  "heartbeat_reporting_interval": 60,
  "train_for_env_steps": 150000000,
  "train_for_seconds": 10000000000,
  "save_every_sec": 120,
  "keep_checkpoints": 2,
  "load_checkpoint_kind": "latest",
  "save_milestones_sec": -1,
  "save_best_every_sec": 5,
  "save_best_metric": "reward",
  "save_best_after": 5000000,
  "benchmark": false,
  "encoder_mlp_layers": [
    512,
    256,
    128
  ],
  "encoder_conv_architecture": "convnet_simple",
  "encoder_conv_mlp_layers": [
    512
  ],
  "use_rnn": false,
  "rnn_size": 512,
  "rnn_type": "gru",
  "rnn_num_layers": 1,
  "decoder_mlp_layers": [],
  "nonlinearity": "elu",
  "policy_initialization": "torch_default",
  "policy_init_gain": 1.0,
  "actor_critic_share_weights": true,
  "adaptive_stddev": false,
  "continuous_tanh_scale": 0.0,
  "initial_stddev": 1.0,
  "use_env_info_cache": true,
  "env_gpu_actions": true,
  "env_gpu_observations": true,
  "env_frameskip": 1,
  "env_framestack": 1,
  "pixel_format": "CHW",
  "use_record_episode_statistics": false,
  "with_wandb": true,
  "wandb_user": null,
  "wandb_project": "sample_factory",
  "wandb_group": "isaacgym_allegrohand_sf2_v079_norm_returns",
  "wandb_job_type": "SF",
  "wandb_tags": [
    "allegrohand",
    "v079_norm_returns"
  ],
  "with_pbt": false,
  "pbt_mix_policies_in_one_env": true,
  "pbt_period_env_steps": 5000000,
  "pbt_start_mutation": 20000000,
  "pbt_replace_fraction": 0.3,
  "pbt_mutation_rate": 0.15,
  "pbt_replace_reward_gap": 0.1,
  "pbt_replace_reward_gap_absolute": 1e-06,
  "pbt_optimize_gamma": false,
  "pbt_target_objective": "true_objective",
  "pbt_perturb_min": 1.1,
  "pbt_perturb_max": 1.5,
  "env_agents": -1,
  "obs_key": "obs",
  "subtask": null,
  "ige_api_version": "preview4",
  "eval_stats": false,
  "command_line": "--actor_worker_gpus 0 --wandb_project=sample_factory --env=AllegroHand --train_for_env_steps=150000000 --with_wandb=True --wandb_group=isaacgym_allegrohand_sf2_v079_norm_returns --wandb_tags allegrohand v079_norm_returns --seed=3333 --serial_mode=True --async_rl=False --normalize_returns=True --experiment=04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True --train_dir=./train_dir/allegrohand_v079_norm_returns/allegrohand_v079_norm_returns_slurm",
  "cli_args": {
    "env": "AllegroHand",
    "experiment": "04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True",
    "train_dir": "./train_dir/allegrohand_v079_norm_returns/allegrohand_v079_norm_returns_slurm",
    "seed": 3333,
    "async_rl": false,
    "serial_mode": true,
    "normalize_returns": true,
    "actor_worker_gpus": [
      0
    ],
    "train_for_env_steps": 150000000,
    "with_wandb": true,
    "wandb_project": "sample_factory",
    "wandb_group": "isaacgym_allegrohand_sf2_v079_norm_returns",
    "wandb_tags": [
      "allegrohand",
      "v079_norm_returns"
    ]
  },
  "git_hash": "0b1d3fc4f93b814b0987f4f5ac91119ac2078725",
  "git_repo_name": "https://github.com/andrewzhang505/sample-factory.git",
  "train_script": "sf_examples.isaacgym_examples.train_isaacgym",
  "wandb_unique_id": "04_allegrohand_v079_norm_returns_see_3333_s.mod_True_a.rl_False_n.ret_True_20221128_165025_758186"
}