sac_swimmer

RoboDRL

Model details

Algorithm: SAC

Environment: Swimmer-v5

Framework: PyTorch + custom implementation

Used config

# This file is used to configure logging and agents behaviour.
#
# The first part consists of Wandb info used to log experiments.
# Changing it adjusts the way logging is stored and displayed.
#
# The second part (config) is used to change hyperparameter settings of agents.
# Changing it adjusts the way agents behave and learn.
project: "Swimmer-v5"
name: "SAC"
dir: "logs"
notes: "Training Swimmer-v5 using SAC"
monitor_gym: "False"
config:
  # Environment, logging and saving control
  environment: "Swimmer-v5"                 # Environment to use
  algorithm: "SAC"                          # What kind of algorithm to use?
  save_dir: "models"                        # Where to save model?
  save_name: "sac_swimmer"                  # Model name
  save_interval: 50                         # How many previous episodes will be used to calculate mean reward?
  total_steps: 1_000_000                    # For how many steps will the agent train?
  # Algorithm hyperparameters
  memory_size: 1_000_000                    # How many steps can fit into the memory?
  learning_rate_q: 0.0003                   # Learning rate for Q-Network
  learning_rate_actor: 0.0003               # Learning rate for Actor network
  tau: 0.005                                # Interpolation factor in target network updates
  warmup_steps: 10_000                      # How many steps before agents starts optimising?
  log_std_min: -5                           # Std normalisation lower bound
  log_std_max: 2                            # Std normalisation upper bound
  batch_size: 256                           # How many steps are sampled from memory when optimising?
  gamma: 0.99                               # Discount factor
  network_size: 256                         # Number of neurons in each hidden layer
  max_grad_norm: 1.0                        # Gradient clipping constant to prevent grad explosion
  reward_scale: 5.0                         # Rewards need to be scaled for entropy temperature
  policy_update_frequency: 1                # How often will the policy be updated?
  normalize_rewards: 0                      # Whether to normalize rewards or not (1 = True, 0 = False)