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0506.yml
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/
0506.yml
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# data
motion_id: '05_06'
# training parameters
gamma: 0.95
tau: 0.95
policy_htype: relu
policy_hsize: [512, 256]
policy_optimizer: 'Adam'
policy_lr: 5.e-5
policy_momentum: 0.0
policy_weightdecay: 0.0
value_htype: relu
value_hsize: [512, 256]
value_optimizer: 'Adam'
value_lr: 3.e-4
value_momentum: 0.0
value_weightdecay: 0.0
clip_epsilon: 0.2
min_batch_size: 50000
mini_batch_size: 2048
num_optim_epoch: 10
log_std: -2.3
fix_std: true
max_iter_num: 2000
seed: 1
save_model_interval: 100
reward_id: 'local_rfc_implicit'
reward_weights:
w_p: 0.5
w_v: 0.0
w_e: 0.3
w_rp: 0.05
w_rv: 0.1
w_vf: 0.05
k_p: 2
k_v: 0.005
k_e: 20
k_vf: 1
k_rh: 300
k_rq: 300
k_rl: 1.0
k_ra: 0.1
# expert and environment
mujoco_model: mocap_v2
vis_model: mocap_v2_vis
env_episode_len: 200
env_term_body: 'root'
env_expert_trail_steps: 10
obs_coord: 'heading'
obs_phase: true
root_deheading: true
# RFC parameters
residual_force: true
residual_force_scale: 100.0
residual_force_mode: implicit
# other joint and body parameters
jkp_multiplier: 1.0
jkd_multiplier: 2.0
joint_params:
# ["name", "k_p", "k_d", "a_ref", "a_scale", "torque_limit"]
- ["lfemur_z" , 500.0, 50.0, -20.0, 1.0, 200.0]
- ["lfemur_y" , 500.0, 50.0, 0.0, 1.0, 200.0]
- ["lfemur_x" , 500.0, 50.0, 0.0, 5.0, 200.0]
- ["ltibia_x" , 500.0, 50.0, 45.0, 5.0, 150.0]
- ["lfoot_z" , 400.0, 40.0, 0.0, 1.0, 150.0]
- ["lfoot_y" , 400.0, 40.0, 0.0, 1.0, 150.0]
- ["lfoot_x" , 400.0, 40.0, 0.0, 5.0, 150.0]
- ["rfemur_z" , 500.0, 50.0, 20.0, 1.0, 200.0]
- ["rfemur_y" , 500.0, 50.0, 0.0, 1.0, 200.0]
- ["rfemur_x" , 500.0, 50.0, 0.0, 5.0, 200.0]
- ["rtibia_x" , 500.0, 50.0, 45.0, 5.0, 150.0]
- ["rfoot_z" , 400.0, 40.0, 0.0, 1.0, 150.0]
- ["rfoot_y" , 400.0, 40.0, 0.0, 1.0, 150.0]
- ["rfoot_x" , 400.0, 40.0, 0.0, 5.0, 150.0]
- ["upperback_z" , 1000.0, 100.0, 0.0, 1.0, 200.0]
- ["upperback_y" , 1000.0, 100.0, 0.0, 1.0, 200.0]
- ["upperback_x" , 1000.0, 100.0, 0.0, 1.0, 200.0]
- ["lowerneck_z" , 200.0, 20.0, 0.0, 1.0, 50.0]
- ["lowerneck_y" , 200.0, 20.0, 0.0, 1.0, 50.0]
- ["lowerneck_x" , 200.0, 20.0, 0.0, 1.0, 50.0]
- ["lclavicle_z" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["lclavicle_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["lhumerus_z" , 400.0, 40.0, 80.0, 1.0, 100.0]
- ["lhumerus_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["lhumerus_x" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["lradius_x" , 300.0, 30.0, 45.0, 5.0, 60.0]
- ["rclavicle_z" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["rclavicle_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["rhumerus_z" , 400.0, 40.0, -80.0, 1.0, 100.0]
- ["rhumerus_y" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["rhumerus_x" , 400.0, 40.0, 0.0, 1.0, 100.0]
- ["rradius_x" , 300.0, 30.0, 45.0, 5.0, 60.0]
body_params:
# ["name","diff weight"]
- ["lfemur" , 1.0]
- ["ltibia" , 1.0]
- ["lfoot" , 0.2]
- ["rfemur" , 1.0]
- ["rtibia" , 1.0]
- ["rfoot" , 0.2]
- ["upperback" , 1.0]
- ["lowerneck" , 1.0]
- ["lclavicle" , 1.0]
- ["lhumerus" , 1.0]
- ["lradius" , 1.0]
- ["rclavicle" , 1.0]
- ["rhumerus" , 1.0]
- ["rradius" , 1.0]