feat: add robosuite support for sac #20
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OrangeX4
commented
Mar 22, 2024
OrangeX4
commented
typoverflow
reviewed
Mar 22, 2024
| log_interval = 10 | ||
| warmup_epoch = 2 | ||
| random_policy_epoch = 5 | ||
| max_trajectory_length = 1000 |
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这里的max_trajectory_length和环境的horizon都设置成500
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同时环境还要添加controller=OSC_POSE，hard_reset=False这两个kwargs
typoverflow
reviewed
Mar 22, 2024
| logger.log_object(name=f"policy_{i_epoch}.pt", object=policy.state_dict(), path=f"./out/sac/{args.name}/{args.env}/seed{args.seed}/policy/") |
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这里的train loop的逻辑要变更，改成：训练N1个epoch，其中每个epoch会先收集N2个episode，然后训练N3个gradient step，其中N1=2000, N2=10, N3=1000
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