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confs.yaml
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# Configuration files for imitation learning examples
Atlas:
algorithm: "VAIL"
algorithm_config:
std_0: 1.0
info_constraint: 0.01
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
Talos:
algorithm: "VAIL"
algorithm_config:
std_0: 1.0
info_constraint: 0.1
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
HumanoidTorque:
algorithm: "VAIL"
algorithm_config:
std_0: 0.5
info_constraint: 0.1
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
HumanoidTorque4Ages:
algorithm: "VAIL"
algorithm_config:
std_0: 0.5
info_constraint: 0.1
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
HumanoidMuscle:
algorithm: "GAIL"
algorithm_config:
std_0: 0.8
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 5.0e-5
learning_rate_disc: 5.0e-6
policy_entr_coef: 1.0e-3
d_entr_coef: 1.0e-3
max_kl: 1.0e-2
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
HumanoidMuscle4Ages:
algorithm: "GAIL"
algorithm_config:
std_0: 0.8
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 5.0e-5
learning_rate_disc: 5.0e-6
policy_entr_coef: 1.0e-3
d_entr_coef: 1.0e-3
max_kl: 1.0e-2
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
UnitreeH1:
algorithm: "VAIL"
algorithm_config:
std_0: 0.5
info_constraint: 0.1
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
UnitreeG1:
algorithm: "VAIL"
algorithm_config:
std_0: 0.5
info_constraint: 0.1
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: False
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
UnitreeA1.simple:
algorithm: "VAIL"
algorithm_config:
std_0: 1.0
info_constraint: 1.0
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: True
train_disc_n_th_epoch: 6
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"
UnitreeA1.hard:
algorithm: "VAIL"
algorithm_config:
std_0: 1.0
info_constraint: 0.1
lr_beta: 0.00001
z_dim: 128
disc_only_states: True
disc_use_next_states: True
train_disc_n_th_epoch: 3
disc_batch_size: 2048
learning_rate_critic: 1.0e-4
learning_rate_disc: 5.0e-5
policy_entr_coef: 1.0e-3
max_kl: 5.0e-3
n_epochs_cg: 25
use_noisy_targets: False
last_policy_activation: "identity"