updated launcher in imitation learning examples.

robfiras · Feb 24, 2024 · 57023df · 57023df
1 parent 792a2c6
commit 57023df
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/examples/imitation_learning/launcher.py b/examples/imitation_learning/launcher.py
@@ -21,14 +21,17 @@
                         use_timestamp=True,
                         )
 
-    default_params = dict(n_epochs=1,
-                          n_steps_per_epoch=10000,
+    default_params = dict(n_epochs=400,
+                          n_steps_per_epoch=100000,
                           n_epochs_save=25,
                           n_eval_episodes=10,
                           n_steps_per_fit=1000,
                           use_cuda=USE_CUDA)
 
-    env_ids = [
+    env_ids = ["Atlas.walk", "Atlas.carry",
+               "Talos.walk", "Talos.carry",
+               "UnitreeH1.walk", "UnitreeH1.run", "UnitreeH1.carry",
+               "HumanoidTorque.walk", "HumanoidTorque.run",
                "HumanoidMuscle.walk", "HumanoidMuscle.run",
                "UnitreeA1.simple", "UnitreeA1.hard"]