cleanup

2025-07-15 22:40:47 -07:00
parent 011cbce7f8
commit 25bdedc780
4 changed files with 9 additions and 106 deletions
@@ -1,89 +0,0 @@
-defaults:
-  - env: brax
-  - experiment_overrides: default
-  - trial_spec: default
-  - platform: torch
-  - _self_
-
-hyperparameters:
-  # env and run settings (mostly don't touch)
-  total_time_steps: 50_000_000
-  normalize_env: true
-  max_episode_steps: 1000
-  eval_interval: 2
-  num_eval: 20
-
-  # optimization settings (seem very stable)
-  lr: 3e-4
-  anneal_lr: false
-  max_grad_norm: 0.5
-  polyak: 1.0 # maybe ablate ?
-
-  # problem discount settings (need tuning)
-  gamma: 0.99
-  lmbda: 0.95
-  lmbda_min: 0.50 # irrelevant if no exploration noise is added
-
-  # batch settings (need tuning for MJX humanoid)
-  num_steps: 128
-  num_mini_batches: 128
-  num_envs: 1024
-  num_epochs: 4
-
-  # exploration settings (currently not touched)
-  exploration_noise_max: 1.0
-  exploration_noise_min: 1.0
-  exploration_base_envs: 0
-
-  # critic architecture settings (need to be increased for MJX humanoid)
-  critic_hidden_dim: 512
-  actor_hidden_dim: 512
-  vmin: ${env.vmin}
-  vmax: ${env.vmax}
-  num_bins: 151
-  hl_gauss: true
-  use_critic_norm: true
-  num_critic_encoder_layers: 2
-  num_critic_head_layers: 2
-  num_critic_pred_layers: 2
-  use_simplical_embedding: False
-
-  # actor architecture settings (seem stable)
-  use_actor_norm: true
-  num_actor_layers: 3
-  actor_min_std: 0.0
-
-  # actor & critic loss settings (seem remarkably stable)
-  ## kl settings
-  kl_start: 0.01
-  kl_bound: 0.1 # switched to tighter bounds for MJX
-  reduce_kl: true
-  reverse_kl: false # previous default "false"
-  update_kl_lagrangian: true
-  actor_kl_clip_mode: "clipped" # "full", "clipped", "kl_relu_clipped", "kl_bound_clipped", "value"
-  ## entropy settings
-  ent_start: 0.01
-  ent_target_mult: 0.5
-  update_entropy_lagrangian: true
-  ## auxiliary loss settings
-  aux_loss_mult: 1.0
-
-
-measure_burnin: 3
-
-
-name: "sac"
-seed: 0
-num_seeds: 1
-tune: false
-checkpoint_dir: null
-num_trials: 10
-tags: ["experimental"]
-wandb:
-  mode: "online" # set to online to activate wandb
-  entity: "viper_svg"
-  project: "online_sac"
-
-hydra:
-  job:
-    chdir: True