b7bd13570f
- Increased frame rate in `maniskill_example.yaml` from 20 to 400 for enhanced simulation speed. - Updated `sac_maniskill.yaml` to set `dataset_repo_id` to null and adjusted `grad_clip_norm` from 10.0 to 40.0. - Changed `storage_device` from "cpu" to "cuda" for better resource utilization. - Modified `save_freq` from 2000000 to 1000000 to optimize saving intervals. - Enhanced input normalization parameters for `observation.state` and `observation.image` in SAC policy. - Adjusted `num_critics` from 10 to 2 and `policy_parameters_push_frequency` from 1 to 4 for improved training dynamics. - Updated `learner_server.py` to utilize `offline_buffer_capacity` for replay buffer initialization. - Changed action multiplier in `maniskill_manipulator.py` from 1 to 0.03 for finer control over actions.
31 lines
508 B
YAML
31 lines
508 B
YAML
# @package _global_
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fps: 400
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env:
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name: maniskill/pushcube
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task: PushCube-v1
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image_size: 64
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control_mode: pd_ee_delta_pose
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state_dim: 25
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action_dim: 7
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fps: ${fps}
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obs: rgb
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render_mode: rgb_array
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render_size: 64
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device: cuda
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reward_classifier:
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pretrained_path: null
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config_path: null
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wrapper:
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joint_masking_action_space: null
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delta_action: null
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video_record:
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enabled: false
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record_dir: maniskill_videos
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trajectory_name: trajectory
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fps: ${fps}
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