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mobl_arms_llc.yaml
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mobl_arms_llc.yaml
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simulator_name: "mobl_arms_llc"
simulation:
bm_model:
cls: "MoblArms"
kwargs:
shoulder_variant: "none"
task:
cls: "LowLevelController"
kwargs:
joints: ["elv_angle", "shoulder_elv", "shoulder_rot", "elbow_flexion", "pro_sup"]
perception_modules:
- cls: "proprioception.BasicWithEndEffectorPosition"
kwargs:
end_effector: ["geom", "hand_2distph"]
run_parameters:
action_sample_freq: 20
effort_model:
cls: "Neural"
kwargs:
weight: 1e-4
rl:
algorithm: "PPO"
policy_type: "policies.MultiInputActorCriticPolicyTanhActions"
policy_kwargs:
activation_fn: "torch.nn.LeakyReLU"
net_arch: [256, 256]
log_std_init: 0.0
features_extractor_class: "feature_extractor.FeatureExtractor"
normalize_images: False
lr:
function: "schedule.linear_schedule"
kwargs:
initial_value: 5e-5
min_value: 1e-7
threshold: 0.8
total_timesteps: 200_000_000
device: "cuda"
num_workers: 10
nsteps: 4000
batch_size: 1000
target_kl: 1.0
save_freq: 5_000_000