32 lines
707 B
YAML
32 lines
707 B
YAML
# @package _global_
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# Override configuration for fair_mon dataset
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dataset_name: amass
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robot_type: unitree_g1
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embodiment_type: humanoid
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task: sprint
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rerun_spawn: true
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sim_dt: 0.0166667
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ref_dt: 0.0333333
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trace_dt: 0.0333333
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max_sim_steps: -1
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horizon: 0.8
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ctrl_dt: 0.1
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knot_dt: 0.1
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# annealing parameters
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first_ctrl_noise_scale: 0.5
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last_ctrl_noise_scale: 1.0
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final_noise_scale: 0.1
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joint_noise_scale: 0.1
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# sampling
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improvement_threshold: 0.01
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max_num_iterations: 16
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temperature: 0.6
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num_samples: 2048
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# reward
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vel_rew_scale: 0.0
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joint_rew_scale: 1.0
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pos_rew_scale: 3.0
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rot_rew_scale: 1.0
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contact_rew_scale: 1.0
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# note: above parameter is optimized for speed. you can have better performance with horizon=1.0
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