Configuration & Hyperparameters¶
All of the configuration settings are stored in a config.py file in the relevant code directory. All hyperparameters can be changed from the default value in the hyperparams.py file for a particular experiment.
This page contains all of the config settings that are exposed via the experiment hyperparams file. See the corresponding config files for more detailed comments on each variable.
Algorithm and Optimization¶
Algorithm base class
- initial_state_var
- sample_decrease_var
- kl_step
- init_traj_distr
- sample_increase_var
- cost
- inner_iterations
- dynamics
- min_step_mult
- min_eta
- max_step_mult
- traj_opt
BADMM Algorithm
- fixed_lg_step
- exp_step_decrease
- init_pol_wt
- max_policy_samples
- policy_dual_rate
- inner_iterations
- exp_step_lower
- exp_step_increase
- policy_sample_mode
- exp_step_upper
- lg_step_schedule
- policy_dual_rate_covar
- ent_reg_schedule
LQR Traj Opt
- del0
- eta_error_threshold
- min_eta
Caffe Policy Optimization
- gpu_id
- batch_size
- iterations
- weights_file_prefix
- weight_decay
- init_var
- use_gpu
- ent_reg
- lr
- network_model
- network_arch_params
- lr_policy
- momentum
- solver_type
Policy Prior & GMM
- strength
- keep_samples
- max_clusters
- strength
- min_samples_per_cluster
- max_samples
Cost Function¶
State cost
- wp_final_multiplier
- ramp_option
- l2
- data_types
- l1
- alpha
Forward kinematics cost
- evalnorm
- wp_final_multiplier
- alpha
- target_end_effector
- l2
- ramp_option
- env_target
- wp
- l1
Action cost
- wu
Sum of costs
- costs
- weights
Initialization¶
Initial Trajectory Distribution - PD initializer
- init_action_offset
- pos_gains
- init_var
- vel_gains_mult
Initial Trajectory Distribution - LQR initializer
- init_acc
- stiffness
- init_gains
- init_var
- stiffness_vel
- final_weight
Agent Interfaces¶
Agent base class
- noisy_body_var
- x0var
- dH
- noisy_body_idx
- smooth_noise_renormalize
- smooth_noise
- smooth_noise_var
- pos_body_offset
- pos_body_idx
Box2D agent
Mujoco agent
- substeps
ROS agent