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Merge pull request #1939 from goncalog:update-humanoid-notebook

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PiperOrigin-RevId: 683668357
Change-Id: Id4a65197efc7d6d36e3e1d9885691b432d6114eb
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Copybara-Service
2024-10-08 10:10:20 -07:00
parent 1f9dca8bc4 76a8d01eb9
commit 39af655c1e
1 changed files with 4 additions and 4 deletions
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mjx/tutorial.ipynb
+4 -4
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@@ -624,11 +624,11 @@
"outputs": [], "outputs": [],
"source": [ "source": [
"train_fn = functools.partial(\n", "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", " episode_length=1000, normalize_observations=True, action_repeat=1,\n",
" unroll_length=10, num_minibatches=32, num_updates_per_batch=8,\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=2048,\n", " discounting=0.97, learning_rate=3e-4, entropy_cost=1e-3, num_envs=3072,\n",
" batch_size=1024, seed=0)\n", " batch_size=512, seed=0)\n",
"\n", "\n",
"\n", "\n",
"x_data = []\n", "x_data = []\n",