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chore(exp): add extra sac experiments
This commit adds some additional SAC hyperparameter experiments that are used in my master thesis.
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42 changes: 42 additions & 0 deletions
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...an2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_different_steps_per_update.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| alg_name: sac | ||
| exp_name: han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_different_steps_per_update | ||
| env_name: "stable_gym:FetchReachCost-v1" | ||
| ac_kwargs: | ||
| hidden_sizes: | ||
| actor: [256, 256] # NOTE: Using [256, 256] for consistency with the article. | ||
| critic: [256, 256] # NOTE: Use [256, 256] for consistency with the codebase. | ||
| activation: | ||
| actor: "nn.ReLU" | ||
| critic: "nn.ReLU" | ||
| output_activation: | ||
| actor: "nn.ReLU" | ||
| opt_type: "minimize" | ||
| max_ep_len: 200 | ||
| epochs: 147 | ||
| steps_per_epoch: 2048 | ||
| start_steps: 0 | ||
| update_every: 100 | ||
| update_after: 1000 | ||
| steps_per_update: 80 | ||
| num_test_episodes: 10 | ||
| alpha: 1.0 # NOTE: Decreased to 1.0 for consistency with the codebase. | ||
| gamma: 0.995 | ||
| polyak: 0.995 | ||
| adaptive_temperature: True | ||
| lr_a: "1e-4" | ||
| lr_c: "3e-4" | ||
| lr_alpha: "1e-4" | ||
| lr_a_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_c_final: "1e-9" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_alpha_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_a_decay_type: "linear" | ||
| lr_c_decay_type: "linear" | ||
| lr_alpha_decay_type: "linear" | ||
| lr_decay_ref: "step" | ||
| batch_size: 256 | ||
| replay_size: "int(1e6)" | ||
| seed: 78456 48104 567 3658 234 # NOTE: Using 5 seeds for tuning. | ||
| save_freq: 10 | ||
| use_wandb: True | ||
| wandb_group: "han2020_reproduction_sac_different_steps_per_update" | ||
| device: "gpu:1" |
42 changes: 42 additions & 0 deletions
42
...eproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_different_steps_per_update.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| alg_name: sac | ||
| exp_name: han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_different_steps_per_update | ||
| env_name: "stable_gym:FetchReachCost-v1" | ||
| ac_kwargs: | ||
| hidden_sizes: | ||
| actor: [256, 256] # NOTE: Using [256, 256] for consistency with the article. | ||
| critic: [256, 256] # NOTE: Use [256, 256] for consistency with the codebase. | ||
| activation: | ||
| actor: "nn.ReLU" | ||
| critic: "nn.ReLU" | ||
| output_activation: | ||
| actor: "nn.ReLU" | ||
| opt_type: "minimize" | ||
| max_ep_len: 200 | ||
| epochs: 147 | ||
| steps_per_epoch: 2048 | ||
| start_steps: 0 | ||
| update_every: 100 | ||
| update_after: 1000 | ||
| steps_per_update: 80 | ||
| num_test_episodes: 10 | ||
| alpha: 1.0 # NOTE: Decreased to 1.0 for consistency with the codebase. | ||
| gamma: 0.995 | ||
| polyak: 0.995 | ||
| adaptive_temperature: True | ||
| lr_a: "1e-4" | ||
| lr_c: "3e-4" | ||
| lr_alpha: "1e-4" | ||
| lr_a_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_c_final: "1e-9" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_alpha_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_a_decay_type: "linear" | ||
| lr_c_decay_type: "linear" | ||
| lr_alpha_decay_type: "linear" | ||
| lr_decay_ref: "step" | ||
| batch_size: 256 | ||
| replay_size: "int(1e6)" | ||
| seed: 234 # NOTE: Using 5 seeds for tuning. | ||
| save_freq: 10 | ||
| use_wandb: True | ||
| wandb_group: "han2020_reproduction_sac_different_steps_per_update" | ||
| device: "gpu:1" |
42 changes: 42 additions & 0 deletions
42
...production_sac_fetch_reach_alpha3_tune_experiment_seed3658_different_steps_per_update.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| alg_name: sac | ||
| exp_name: han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_different_steps_per_update | ||
| env_name: "stable_gym:FetchReachCost-v1" | ||
| ac_kwargs: | ||
| hidden_sizes: | ||
| actor: [256, 256] # NOTE: Using [256, 256] for consistency with the article. | ||
| critic: [256, 256] # NOTE: Use [256, 256] for consistency with the codebase. | ||
| activation: | ||
| actor: "nn.ReLU" | ||
| critic: "nn.ReLU" | ||
| output_activation: | ||
| actor: "nn.ReLU" | ||
| opt_type: "minimize" | ||
| max_ep_len: 200 | ||
| epochs: 147 | ||
| steps_per_epoch: 2048 | ||
| start_steps: 0 | ||
| update_every: 100 | ||
| update_after: 1000 | ||
| steps_per_update: 80 | ||
| num_test_episodes: 10 | ||
| alpha: 1.0 # NOTE: Decreased to 1.0 for consistency with the codebase. | ||
| gamma: 0.995 | ||
| polyak: 0.995 | ||
| adaptive_temperature: True | ||
| lr_a: "1e-4" | ||
| lr_c: "3e-4" | ||
| lr_alpha: "1e-4" | ||
| lr_a_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_c_final: "1e-9" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_alpha_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_a_decay_type: "linear" | ||
| lr_c_decay_type: "linear" | ||
| lr_alpha_decay_type: "linear" | ||
| lr_decay_ref: "step" | ||
| batch_size: 256 | ||
| replay_size: "int(1e6)" | ||
| seed: 3658 # 234 # NOTE: Using 5 seeds for tuning. | ||
| save_freq: 10 | ||
| use_wandb: True | ||
| wandb_group: "han2020_reproduction_sac_different_steps_per_update" | ||
| device: "gpu:1" |
42 changes: 42 additions & 0 deletions
42
...roduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_different_steps_per_update.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| alg_name: sac | ||
| exp_name: han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_different_steps_per_update | ||
| env_name: "stable_gym:FetchReachCost-v1" | ||
| ac_kwargs: | ||
| hidden_sizes: | ||
| actor: [256, 256] # NOTE: Using [256, 256] for consistency with the article. | ||
| critic: [256, 256] # NOTE: Use [256, 256] for consistency with the codebase. | ||
| activation: | ||
| actor: "nn.ReLU" | ||
| critic: "nn.ReLU" | ||
| output_activation: | ||
| actor: "nn.ReLU" | ||
| opt_type: "minimize" | ||
| max_ep_len: 200 | ||
| epochs: 147 | ||
| steps_per_epoch: 2048 | ||
| start_steps: 0 | ||
| update_every: 100 | ||
| update_after: 1000 | ||
| steps_per_update: 80 | ||
| num_test_episodes: 10 | ||
| alpha: 1.0 # NOTE: Decreased to 1.0 for consistency with the codebase. | ||
| gamma: 0.995 | ||
| polyak: 0.995 | ||
| adaptive_temperature: True | ||
| lr_a: "1e-4" | ||
| lr_c: "3e-4" | ||
| lr_alpha: "1e-4" | ||
| lr_a_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_c_final: "1e-9" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_alpha_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_a_decay_type: "linear" | ||
| lr_c_decay_type: "linear" | ||
| lr_alpha_decay_type: "linear" | ||
| lr_decay_ref: "step" | ||
| batch_size: 256 | ||
| replay_size: "int(1e6)" | ||
| seed: 48104 # 567 3658 234 # NOTE: Using 5 seeds for tuning. | ||
| save_freq: 10 | ||
| use_wandb: True | ||
| wandb_group: "han2020_reproduction_sac_different_steps_per_update" | ||
| device: "gpu:1" |
42 changes: 42 additions & 0 deletions
42
...eproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_different_steps_per_update.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| alg_name: sac | ||
| exp_name: han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_different_steps_per_update | ||
| env_name: "stable_gym:FetchReachCost-v1" | ||
| ac_kwargs: | ||
| hidden_sizes: | ||
| actor: [256, 256] # NOTE: Using [256, 256] for consistency with the article. | ||
| critic: [256, 256] # NOTE: Use [256, 256] for consistency with the codebase. | ||
| activation: | ||
| actor: "nn.ReLU" | ||
| critic: "nn.ReLU" | ||
| output_activation: | ||
| actor: "nn.ReLU" | ||
| opt_type: "minimize" | ||
| max_ep_len: 200 | ||
| epochs: 147 | ||
| steps_per_epoch: 2048 | ||
| start_steps: 0 | ||
| update_every: 100 | ||
| update_after: 1000 | ||
| steps_per_update: 80 | ||
| num_test_episodes: 10 | ||
| alpha: 1.0 # NOTE: Decreased to 1.0 for consistency with the codebase. | ||
| gamma: 0.995 | ||
| polyak: 0.995 | ||
| adaptive_temperature: True | ||
| lr_a: "1e-4" | ||
| lr_c: "3e-4" | ||
| lr_alpha: "1e-4" | ||
| lr_a_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_c_final: "1e-9" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_alpha_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_a_decay_type: "linear" | ||
| lr_c_decay_type: "linear" | ||
| lr_alpha_decay_type: "linear" | ||
| lr_decay_ref: "step" | ||
| batch_size: 256 | ||
| replay_size: "int(1e6)" | ||
| seed: 567 # 3658 234 # NOTE: Using 5 seeds for tuning. | ||
| save_freq: 10 | ||
| use_wandb: True | ||
| wandb_group: "han2020_reproduction_sac_different_steps_per_update" | ||
| device: "gpu:1" |
42 changes: 42 additions & 0 deletions
42
...roduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_different_steps_per_update.yml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| alg_name: sac | ||
| exp_name: han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_different_steps_per_update | ||
| env_name: "stable_gym:FetchReachCost-v1" | ||
| ac_kwargs: | ||
| hidden_sizes: | ||
| actor: [256, 256] # NOTE: Using [256, 256] for consistency with the article. | ||
| critic: [256, 256] # NOTE: Use [256, 256] for consistency with the codebase. | ||
| activation: | ||
| actor: "nn.ReLU" | ||
| critic: "nn.ReLU" | ||
| output_activation: | ||
| actor: "nn.ReLU" | ||
| opt_type: "minimize" | ||
| max_ep_len: 200 | ||
| epochs: 147 | ||
| steps_per_epoch: 2048 | ||
| start_steps: 0 | ||
| update_every: 100 | ||
| update_after: 1000 | ||
| steps_per_update: 80 | ||
| num_test_episodes: 10 | ||
| alpha: 1.0 # NOTE: Decreased to 1.0 for consistency with the codebase. | ||
| gamma: 0.995 | ||
| polyak: 0.995 | ||
| adaptive_temperature: True | ||
| lr_a: "1e-4" | ||
| lr_c: "3e-4" | ||
| lr_alpha: "1e-4" | ||
| lr_a_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_c_final: "1e-9" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_alpha_final: "3.3333333e-10" # NOTE: Not in Han et al. 2020, but aligned with original code. | ||
| lr_a_decay_type: "linear" | ||
| lr_c_decay_type: "linear" | ||
| lr_alpha_decay_type: "linear" | ||
| lr_decay_ref: "step" | ||
| batch_size: 256 | ||
| replay_size: "int(1e6)" | ||
| seed: 78456 # 48104 567 3658 234 # NOTE: Using 5 seeds for tuning. | ||
| save_freq: 10 | ||
| use_wandb: True | ||
| wandb_group: "han2020_reproduction_sac_different_steps_per_update" | ||
| device: "gpu:1" |
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