Paper code basis

config/experiment_overrides/maniskill.yaml

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+lmbda: 0.95
+
+num_epochs: 4
+
+aux_loss_mult: 1.0

config/experiment_overrides/mjx_dmc_large_data.yaml

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+num_envs: 1024
+num_steps: 128
+num_mini_batches: 64
+num_epochs: 8
+kl_bound: 0.1

config/experiment_overrides/mjx_dmc_medium_data.yaml

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+num_envs: 1024
+num_steps: 64
+num_mini_batches: 32
+num_epochs: 8
+kl_bound: 0.1

config/experiment_overrides/mjx_dmc_small_data.yaml

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+num_envs: 1024
+num_steps: 32
+num_mini_batches: 16
+num_epochs: 8
+kl_bound: 0.1

config/experiment_overrides/mjx_humanoid_large_data.yaml

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+gamma: 0.97
+critic_hidden_dim: 1024
+
+num_envs: 1024
+num_steps: 128
+num_mini_batches: 16
+num_epochs: 8
+kl_bound: 0.1

config/experiment_overrides/mjx_humanoid_small_data.yaml

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+gamma: 0.97
+critic_hidden_dim: 1024
+
+num_envs: 1024
+num_steps: 32
+num_mini_batches: 4
+num_epochs: 8
+kl_bound: 0.1