- fix pyproject

- update hydra config to make experiment overrides smoother
- fix directory naming
- update readme

config/experiment_overrides/maniskill.yaml

@@ -1,5 +1,5 @@
-lmbda: 0.95
-
-num_epochs: 4
-
-aux_loss_mult: 1.0
+# @package _global_
+hyperparameters:
+  lmbda: 0.95
+  num_epochs: 4
+  aux_loss_mult: 1.0

config/experiment_overrides/mjx_dmc_large_data.yaml

@@ -1,5 +1,7 @@
-num_envs: 1024
-num_steps: 128
-num_mini_batches: 64
-num_epochs: 8
-kl_bound: 0.1
+# @package _global_
+hyperparameters:
+  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

@@ -1,5 +1,7 @@
-num_envs: 1024
-num_steps: 64
-num_mini_batches: 32
-num_epochs: 8
-kl_bound: 0.1
+# @package _global_
+hyperparameters:
+  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

@@ -1,5 +1,7 @@
-num_envs: 1024
-num_steps: 32
-num_mini_batches: 16
-num_epochs: 8
-kl_bound: 0.1
+# @package _global_
+hyperparameters:
+  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

@@ -1,8 +1,9 @@
-gamma: 0.97
-critic_hidden_dim: 1024
-
-num_envs: 1024
-num_steps: 128
-num_mini_batches: 16
-num_epochs: 8
-kl_bound: 0.1
+# @package _global_
+hyperparameters:
+  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

@@ -1,8 +1,9 @@
-gamma: 0.97
-critic_hidden_dim: 1024
-
-num_envs: 1024
-num_steps: 32
-num_mini_batches: 4
-num_epochs: 8
-kl_bound: 0.1
+# @package _global_
+hyperparameters:
+  gamma: 0.97
+  critic_hidden_dim: 1024
+  num_envs: 1024
+  num_steps: 32
+  num_mini_batches: 4
+  num_epochs: 8
+  kl_bound: 0.1