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Parent(s):
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Upload cfg.json with huggingface_hub
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cfg.json
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{
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"help": false,
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"algo": "APPO",
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"env": "AllegroHand",
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"experiment": "AllegroHand_1111",
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"train_dir": "/gpfsssd/scratch/rech/ajs/utv52ia/isaacgym/sample-factory/train_dir",
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"restart_behavior": "resume",
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"device": "gpu",
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"seed": 1111,
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"num_policies": 1,
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"async_rl": false,
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"serial_mode": true,
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"batched_sampling": true,
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"num_batches_to_accumulate": 2,
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"worker_num_splits": 1,
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"policy_workers_per_policy": 1,
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"max_policy_lag": 1000,
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"num_workers": 1,
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"num_envs_per_worker": 1,
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"batch_size": 32768,
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"num_batches_per_epoch": 8,
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"num_epochs": 4,
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"rollout": 16,
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"recurrence": 1,
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"shuffle_minibatches": false,
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"gamma": 0.99,
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"reward_scale": 0.01,
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"reward_clip": 1000.0,
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"value_bootstrap": true,
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"normalize_returns": true,
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"exploration_loss_coeff": 0.0,
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"value_loss_coeff": 2.0,
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"kl_loss_coeff": 0.0,
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"exploration_loss": "entropy",
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"gae_lambda": 0.95,
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"ppo_clip_ratio": 0.2,
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"ppo_clip_value": 1.0,
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"with_vtrace": false,
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"vtrace_rho": 1.0,
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"vtrace_c": 1.0,
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"optimizer": "adam",
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"adam_eps": 1e-06,
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"adam_beta1": 0.9,
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"adam_beta2": 0.999,
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"max_grad_norm": 1.0,
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"learning_rate": 0.005,
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"lr_schedule": "kl_adaptive_epoch",
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"lr_schedule_kl_threshold": 0.02,
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"obs_subtract_mean": 0.0,
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"obs_scale": 1.0,
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"normalize_input": true,
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"normalize_input_keys": null,
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"decorrelate_experience_max_seconds": 0,
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"decorrelate_envs_on_one_worker": true,
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"actor_worker_gpus": [
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0
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],
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"set_workers_cpu_affinity": true,
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"force_envs_single_thread": false,
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"default_niceness": 0,
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"log_to_file": true,
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"experiment_summaries_interval": 10,
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"flush_summaries_interval": 30,
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"stats_avg": 100,
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"summaries_use_frameskip": true,
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"heartbeat_interval": 20,
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"heartbeat_reporting_interval": 180,
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"train_for_env_steps": 1000000000,
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"train_for_seconds": 10000000000,
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"save_every_sec": 120,
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"keep_checkpoints": 2,
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"load_checkpoint_kind": "latest",
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"save_milestones_sec": -1,
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"save_best_every_sec": 5,
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"save_best_metric": "reward",
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"save_best_after": 5000000,
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"benchmark": false,
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"encoder_mlp_layers": [
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512,
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256,
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128
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],
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"encoder_conv_architecture": "convnet_simple",
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"encoder_conv_mlp_layers": [
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512
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],
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"use_rnn": false,
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"rnn_size": 512,
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"rnn_type": "gru",
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"rnn_num_layers": 1,
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"decoder_mlp_layers": [],
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"nonlinearity": "elu",
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"policy_initialization": "torch_default",
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"policy_init_gain": 1.0,
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"actor_critic_share_weights": true,
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"adaptive_stddev": false,
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"continuous_tanh_scale": 0.0,
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"initial_stddev": 1.0,
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"use_env_info_cache": true,
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"env_gpu_actions": true,
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"env_gpu_observations": true,
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"env_frameskip": 1,
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"env_framestack": 1,
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"pixel_format": "CHW",
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"use_record_episode_statistics": false,
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"with_wandb": false,
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"wandb_user": null,
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"wandb_project": "sample_factory",
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"wandb_group": null,
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"wandb_job_type": "SF",
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"wandb_tags": [],
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"with_pbt": false,
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"pbt_mix_policies_in_one_env": true,
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"pbt_period_env_steps": 5000000,
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"pbt_start_mutation": 20000000,
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"pbt_replace_fraction": 0.3,
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"pbt_mutation_rate": 0.15,
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"pbt_replace_reward_gap": 0.1,
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"pbt_replace_reward_gap_absolute": 1e-06,
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"pbt_optimize_gamma": false,
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"pbt_target_objective": "true_objective",
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"pbt_perturb_min": 1.1,
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"pbt_perturb_max": 1.5,
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"env_agents": -1,
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"obs_key": "obs",
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"subtask": null,
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"ige_api_version": "preview4",
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"eval_stats": false,
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"command_line": "--seed=1111 --experiment=AllegroHand_1111 --env=AllegroHand --train_for_env_steps=1000000000",
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"cli_args": {
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"env": "AllegroHand",
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"experiment": "AllegroHand_1111",
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"seed": 1111,
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"train_for_env_steps": 1000000000
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},
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"git_hash": "a79821cb7657bf600e5eb05db9b797b132737468",
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"git_repo_name": "https://github.com/alex-petrenko/sample-factory.git",
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"train_script": "sf_examples.isaacgym_examples.train_isaacgym"
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}
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