From ee731506d79a60226f99f3b9438b57da50dbeeef Mon Sep 17 00:00:00 2001 From: Goncalo Gordo Date: Thu, 29 Aug 2024 14:37:38 +0100 Subject: [PATCH 1/4] Update params in humanoid's training --- mjx/tutorial.ipynb | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb index 024a9c8f..e77f2033 100644 --- a/mjx/tutorial.ipynb +++ b/mjx/tutorial.ipynb @@ -622,11 +622,11 @@ "outputs": [], "source": [ "train_fn = functools.partial(\n", - " ppo.train, num_timesteps=30_000_000, num_evals=5, reward_scaling=0.1,\n", + " ppo.train, num_timesteps=20_000_000, num_evals=5, reward_scaling=0.1,\n", " episode_length=1000, normalize_observations=True, action_repeat=1,\n", - " unroll_length=10, num_minibatches=32, num_updates_per_batch=8,\n", - " discounting=0.97, learning_rate=3e-4, entropy_cost=1e-3, num_envs=2048,\n", - " batch_size=1024, seed=0)\n", + " unroll_length=10, num_minibatches=24, num_updates_per_batch=8,\n", + " discounting=0.97, learning_rate=3e-4, entropy_cost=1e-3, num_envs=3072,\n", + " batch_size=512, seed=0)\n", "\n", "\n", "x_data = []\n", From 5faff169b7ebcc90b3178f58c2ffaecb282be62b Mon Sep 17 00:00:00 2001 From: Goncalo Gordo Date: Thu, 29 Aug 2024 14:39:08 +0100 Subject: [PATCH 2/4] Update simulation params in MJX's tutorial --- mjx/tutorial.ipynb | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb index e77f2033..33efbe77 100644 --- a/mjx/tutorial.ipynb +++ b/mjx/tutorial.ipynb @@ -440,12 +440,12 @@ " mj_model = mujoco.MjModel.from_xml_path(\n", " (path / 'humanoid.xml').as_posix())\n", " mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n", - " mj_model.opt.iterations = 6\n", - " mj_model.opt.ls_iterations = 6\n", + " mj_model.opt.iterations = 4\n", + " mj_model.opt.ls_iterations = 4\n", "\n", " sys = mjcf.load_model(mj_model)\n", "\n", - " physics_steps_per_control_step = 5\n", + " physics_steps_per_control_step = 4\n", " kwargs['n_frames'] = kwargs.get(\n", " 'n_frames', physics_steps_per_control_step)\n", " kwargs['backend'] = 'mjx'\n", From b08d6f4724ae470ea6b8b1e9094c1c6b39ddffed Mon Sep 17 00:00:00 2001 From: Goncalo Gordo Date: Sat, 5 Oct 2024 13:23:47 +0100 Subject: [PATCH 3/4] revert the solver params --- mjx/tutorial.ipynb | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb index 33efbe77..ac8391d9 100644 --- a/mjx/tutorial.ipynb +++ b/mjx/tutorial.ipynb @@ -440,12 +440,12 @@ " mj_model = mujoco.MjModel.from_xml_path(\n", " (path / 'humanoid.xml').as_posix())\n", " mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n", - " mj_model.opt.iterations = 4\n", - " mj_model.opt.ls_iterations = 4\n", + " mj_model.opt.iterations = 6\n", + " mj_model.opt.ls_iterations = 6\n", "\n", " sys = mjcf.load_model(mj_model)\n", "\n", - " physics_steps_per_control_step = 4\n", + " physics_steps_per_control_step = 6\n", " kwargs['n_frames'] = kwargs.get(\n", " 'n_frames', physics_steps_per_control_step)\n", " kwargs['backend'] = 'mjx'\n", From 76a8d01eb9e0a47fc2aaa8b78e51c6fd126472ad Mon Sep 17 00:00:00 2001 From: Goncalo Gordo Date: Sat, 5 Oct 2024 13:25:47 +0100 Subject: [PATCH 4/4] revert physics_steps_per_control_step --- mjx/tutorial.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb index ac8391d9..e77f2033 100644 --- a/mjx/tutorial.ipynb +++ b/mjx/tutorial.ipynb @@ -445,7 +445,7 @@ "\n", " sys = mjcf.load_model(mj_model)\n", "\n", - " physics_steps_per_control_step = 6\n", + " physics_steps_per_control_step = 5\n", " kwargs['n_frames'] = kwargs.get(\n", " 'n_frames', physics_steps_per_control_step)\n", " kwargs['backend'] = 'mjx'\n",