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configuration.py
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configuration.py
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def get_default_config():
cfg = {
"domain_name": "Safexp",
"task_name": "PointGoal1",
"action_repeat": 2,
"image_size": 64,
"image_noise": 0.4,
"seed": 0,
"num_sequences": 10,
"gamma_c": 0.995,
"buffer_size": 2*10**5,
"feature_dim": 200,
"z2_dim": 200,
"hidden_units": (256, 256),
"batch_size_latent": 32,
"batch_size_sac": 64,
"lr_sac": 2e-4,
"lr_latent": 1e-4,
"start_alpha": 4e-3,
"start_lagrange": 0.02,
"num_steps": 2e6,
"initial_learning_steps": 30_000,
"initial_collection_steps": 30_000,
"collect_with_policy": False,
"eval_interval": 25*10**3,
"num_eval_episodes": 10,
"grad_clip_norm": 40.0,
"tau": 5e-3, # Exponential averaging coefficient for target network updates, nu in the paper
"train_steps_per_iter": 100,
"env_steps_per_train_step": 100
}
return cfg