FetchGamePhysicsTraining/trainer_config.yaml at master · JohnsonLabJanelia/FetchGamePhysicsTraining · GitHub

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
158
159
behaviors:
  FetchGamePhysics:
    trainer_type: ppo
    hyperparameters:
      batch_size: 2048
      buffer_size: 20480
      learning_rate: 0.0003
      beta: 0.005
      epsilon: 0.2
      lambd: 0.95
      num_epoch: 3
      learning_rate_schedule: linear
      beta_schedule: linear
      epsilon_schedule: linear
    network_settings:
      normalize: false
      hidden_units: 256
      num_layers: 2
      vis_encode_type: simple
      goal_conditioning_type: hyper
      deterministic: false
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
        network_settings:
          normalize: false
          hidden_units: 128
          num_layers: 2
          vis_encode_type: simple
          goal_conditioning_type: hyper
          deterministic: false
    keep_checkpoints: 5
    checkpoint_interval: 500000
    max_steps: 5000000
    time_horizon: 128
    summary_freq: 10000
    threaded: false
environment_parameters:
  ball_max_angular_velocity:
    curriculum:
      - name: LessonA
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 250
          threshold: 0
        value: 3.0
      - name: LessonB
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 200
          threshold: 0.2
        value: 3.25
      - name: LessonC
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 150
          threshold: 0.4
        value: 3.5
      - name: LessonD
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.6
        value: 4
      - name: LessonE
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.7
        value: 4.5
      - name: LessonF
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.75
        value: 5
      - name: LessonG
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.8
        value: 6
      - name: LessonFinal
        value: 7
  ball_fetched_threshold:
    curriculum:
      - name: LessonA
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 250
          threshold: 0
        value: 0.25
      - name: LessonB
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 200
          threshold: 0.2
        value: 0.22
      - name: LessonC
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 150
          threshold: 0.4
        value: 0.18
      - name: LessonD
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 150
          threshold: 0.6
        value: 0.16
      - name: LessonE
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.7
        value: 0.12
      - name: LessonF
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.75
        value: 0.05
      - name: LessonG
        completion_criteria:
          measure: reward
          behavior: FetchGamePhysics
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.8
        value: 0.025
      - name: LessonFinal
        value: 0.0