slm_lab/spec/benchmark/ppo/ppo_roboschool.json
{
"ppo_roboschool": {
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"algorithm": {
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"action_pdtype": "default",
"action_policy": "default",
"explore_var_spec": null,
"gamma": 0.99,
"lam": 0.95,
"clip_eps_spec": {
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"end_val": 0.20,
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},
"entropy_coef_spec": {
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"end_val": 0.0,
"start_step": 0,
"end_step": 0
},
"val_loss_coef": 1.0,
"time_horizon": 2048,
"minibatch_size": 128,
"training_epoch": 10
},
"memory": {
"name": "OnPolicyBatchReplay",
},
"net": {
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"shared": false,
"hid_layers": [256, 256],
"hid_layers_activation": "relu",
"init_fn": "orthogonal_",
"clip_grad_val": 0.5,
"use_same_optim": false,
"loss_spec": {
"name": "MSELoss"
},
"actor_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"critic_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"lr_scheduler_spec": null,
"gpu": false
}
}],
"env": [{
"name": "${env}",
"num_envs": 8,
"max_t": null,
"max_frame": 2e6
}],
"body": {
"product": "outer",
"num": 1
},
"meta": {
"distributed": false,
"log_frequency": 1000,
"eval_frequency": 1000,
"rigorous_eval": 0,
"max_session": 4,
"max_trial": 1
},
"spec_params": {
"env": [
"RoboschoolAnt-v1", "RoboschoolAtlasForwardWalk-v1", "RoboschoolHalfCheetah-v1", "RoboschoolHopper-v1", "RoboschoolInvertedDoublePendulum-v1", "RoboschoolInvertedPendulum-v1", "RoboschoolReacher-v1", "RoboschoolWalker2d-v1"
]
}
},
"ppo_humanoid": {
"agent": [{
"name": "PPO",
"algorithm": {
"name": "PPO",
"action_pdtype": "default",
"action_policy": "default",
"explore_var_spec": null,
"gamma": 0.99,
"lam": 0.95,
"clip_eps_spec": {
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"start_val": 0.20,
"end_val": 0.20,
"start_step": 0,
"end_step": 0
},
"entropy_coef_spec": {
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"start_val": 0.0,
"end_val": 0.0,
"start_step": 0,
"end_step": 0
},
"val_loss_coef": 1.0,
"time_horizon": 512,
"minibatch_size": 4096,
"training_epoch": 15
},
"memory": {
"name": "OnPolicyBatchReplay",
},
"net": {
"type": "MLPNet",
"shared": false,
"hid_layers": [256, 256],
"hid_layers_activation": "relu",
"init_fn": "orthogonal_",
"clip_grad_val": 0.5,
"use_same_optim": false,
"loss_spec": {
"name": "MSELoss"
},
"actor_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"critic_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"lr_scheduler_spec": null,
"gpu": false
}
}],
"env": [{
"name": "RoboschoolHumanoid-v1",
"num_envs": 32,
"max_t": null,
"max_frame": 5e7
}],
"body": {
"product": "outer",
"num": 1
},
"meta": {
"distributed": false,
"log_frequency": 10000,
"eval_frequency": 10000,
"rigorous_eval": 0,
"max_session": 4,
"max_trial": 1
}
},
"ppo_humanoidflagrun": {
"agent": [{
"name": "PPO",
"algorithm": {
"name": "PPO",
"action_pdtype": "default",
"action_policy": "default",
"explore_var_spec": null,
"gamma": 0.99,
"lam": 0.95,
"clip_eps_spec": {
"name": "no_decay",
"start_val": 0.20,
"end_val": 0.20,
"start_step": 0,
"end_step": 0
},
"entropy_coef_spec": {
"name": "no_decay",
"start_val": 0.0,
"end_val": 0.0,
"start_step": 0,
"end_step": 0
},
"val_loss_coef": 1.0,
"time_horizon": 512,
"minibatch_size": 4096,
"training_epoch": 15
},
"memory": {
"name": "OnPolicyBatchReplay",
},
"net": {
"type": "MLPNet",
"shared": false,
"hid_layers": [256, 256],
"hid_layers_activation": "relu",
"init_fn": "orthogonal_",
"clip_grad_val": 0.5,
"use_same_optim": false,
"loss_spec": {
"name": "MSELoss"
},
"actor_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"critic_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"lr_scheduler_spec": null,
"gpu": false
}
}],
"env": [{
"name": "RoboschoolHumanoidFlagrun-v1",
"num_envs": 128,
"max_t": null,
"max_frame": 1e8
}],
"body": {
"product": "outer",
"num": 1
},
"meta": {
"distributed": false,
"log_frequency": 10000,
"eval_frequency": 10000,
"rigorous_eval": 0,
"max_session": 4,
"max_trial": 1
}
},
"ppo_humanoidflagrunharder": {
"agent": [{
"name": "PPO",
"algorithm": {
"name": "PPO",
"action_pdtype": "default",
"action_policy": "default",
"explore_var_spec": null,
"gamma": 0.99,
"lam": 0.95,
"clip_eps_spec": {
"name": "no_decay",
"start_val": 0.20,
"end_val": 0.20,
"start_step": 0,
"end_step": 0
},
"entropy_coef_spec": {
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"start_val": 0.0,
"end_val": 0.0,
"start_step": 0,
"end_step": 0
},
"val_loss_coef": 1.0,
"time_horizon": 512,
"minibatch_size": 4096,
"training_epoch": 15
},
"memory": {
"name": "OnPolicyBatchReplay",
},
"net": {
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"shared": false,
"hid_layers": [256, 256],
"hid_layers_activation": "relu",
"init_fn": "orthogonal_",
"clip_grad_val": 0.5,
"use_same_optim": false,
"loss_spec": {
"name": "MSELoss"
},
"actor_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"critic_optim_spec": {
"name": "Lookahead",
"optimizer": "RAdam",
"lr": 3e-4,
},
"lr_scheduler_spec": null,
"gpu": false
}
}],
"env": [{
"name": "RoboschoolHumanoidFlagrunHarder-v1",
"num_envs": 128,
"max_t": null,
"max_frame": 1e8
}],
"body": {
"product": "outer",
"num": 1
},
"meta": {
"distributed": false,
"log_frequency": 10000,
"eval_frequency": 10000,
"rigorous_eval": 0,
"max_session": 4,
"max_trial": 1
}
}
}