Merge branch 'master' of github.com:robfiras/loco-mujoco

robfiras · Feb 27, 2024 · c4cb1f9 · c4cb1f9
2 parents 3b7386e + c677f88
commit c4cb1f9
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/examples/imitation_learning/confs.yaml b/examples/imitation_learning/confs.yaml
@@ -79,33 +79,33 @@ HumanoidTorque4Ages:
 HumanoidMuscle:
   algorithm: "GAIL"
   algorithm_config:
-    std_0: 1.0
+    std_0: 0.8
     disc_only_states: True
-    disc_use_next_states: True
+    disc_use_next_states: False
     train_disc_n_th_epoch: 3
     disc_batch_size: 2048
-    learning_rate_critic: 1.0e-3
-    learning_rate_disc: 3.0e-4
+    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: 5.0e-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: 1.0
+    std_0: 0.8
     disc_only_states: True
-    disc_use_next_states: True
+    disc_use_next_states: False
     train_disc_n_th_epoch: 3
     disc_batch_size: 2048
-    learning_rate_critic: 1.0e-3
-    learning_rate_disc: 3.0e-4
+    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: 5.0e-3
+    max_kl: 1.0e-2
     n_epochs_cg: 25
     use_noisy_targets: False
     last_policy_activation: "identity"