From 5b2f26d86f6acf7db7859506a4801a1abe59f347 Mon Sep 17 00:00:00 2001 From: Ariel Kwiatkowski Date: Fri, 30 Jun 2023 01:26:27 +0200 Subject: [PATCH] One more --- .../3-pureenergy-nodisc.yaml | 165 ++++++++++++++++++ 1 file changed, 165 insertions(+) create mode 100644 scripts/mig23-configs/circle40-nogoalnstuff/3-pureenergy-nodisc.yaml diff --git a/scripts/mig23-configs/circle40-nogoalnstuff/3-pureenergy-nodisc.yaml b/scripts/mig23-configs/circle40-nogoalnstuff/3-pureenergy-nodisc.yaml new file mode 100644 index 0000000..320e6c8 --- /dev/null +++ b/scripts/mig23-configs/circle40-nogoalnstuff/3-pureenergy-nodisc.yaml @@ -0,0 +1,165 @@ +--- +trainer: + steps: 200 + workers: 2 + + tensorboard_name: pureenergy + save_freq: 100 + + PPOConfig: + optimizer: adam + OptimizerKwargs: + lr: 0.0001 + betas: !!python/tuple [0.9, 0.999] + eps: 1.0e-07 + weight_decay: 0 + amsgrad: false + + gamma: 1.0 + eta: 0.0 + gae_lambda: 0.928 + + use_ugae: true + + advantage_normalization: true + + eps: 0.122 + target_kl: 0.0445 + entropy_coeff: 0.01387 + entropy_decay_time: 100 + min_entropy: 0.0 + value_coeff: 1.0 + rewind: true + + ppo_epochs: 20 + minibatch_size: 2048 + + use_gpu: + +model: + activation: leaky_relu + initializer: orthogonal + + sigma0: 0.4 + + beta: false + + hidden_sizes: [64, 64, 64] + separate_value: true + + + vec_hidden_layers: [512, 512, 512, 512] + rel_hidden_layers: [512, 512, 512, 512] + com_hidden_layers: [512, 512, 512] + emb_size: 64 + attention_heads: 2 + + +environment: + num_agents: 40 + initializer: "Circle" + dynamics: "PolarAcceleration" + observer: "Egocentric" + rewarder: "DecisionRewarder" + + # Physics + max_speed: 4.0 + max_acceleration: 5.0 + rotation_speed: 3.0 + + # Spawn + spawn_noise_scale: 1.5 + spawn_scale: 7 + + grid_spawn: true + group_spawn_scale: 1.5 + + enable_obstacles: true + block_scale: 3 + + random_mass: true + random_energy: true + + shared_goal: true + + # Unified reward + + r_bmr: 0.0 + r_drag: 0.0 + r_dynamics: 0.0 + r_potential: 0.0 + r_diff_potential: 0.0 + r_s_matching: 0.0 + r_s_matching_exp: 0.0 + r_speeding: 0.0 + r_exp_v_matching: 0.0 + r_exp_v_sigma: 0.85 + r_v_matching: 0.0 + r_goal: 0.0 + r_final: 0.0 + r_avg_final: 0.0 + + collision: -0.05 + + + # Observations + sight_radius: 10 + sight_agents: 20 + sight_angle: 180 + sight_acceleration: false + + rays_per_direction: 10 + ray_length: 10 + ray_degrees: 90 + ray_agent_vision: true + destroy_raycasts: true + + + + + evaluation_mode: false + # save_path: # This should probably be set manually + early_finish: false + nice_colors: true + + show_attention: false + backwards_allowed: false + + # Legacy reward function + potential: 1 + goal: 10 + step_reward: -0.005 + + standstill_weight: 0 + standstill_exponent: 0 + goal_speed_threshold: 0 + + comfort_speed: 1.33 + comfort_speed_weight: -0.75 + comfort_speed_exponent: 1 + + comfort_distance: 0 + comfort_distance_weight: 0 + + energy_weight: 1 + final_energy_weight: 1 + potential_energy_scale: 2 + complex_energy: true + +env_curriculum: + 1: + r_potential: 1.0 + r_s_matching_exp: 2.0 + r_speeding: 10.0 + r_goal: 10.0 + 200: + # removed + r_speeding: 0.0 + r_potential: 0.0 + # same + r_goal: 0.0 + # new + r_bmr: 1.0 + r_dynamics: 1.0 + +model_type: "relation"