experiment: humanoid
sweep:
  n_sample: 50
  n_seed: 10
replay_buffer_capacity: min(${num_train_steps}, 1e6)
num_seed_steps: 1000
eval_freq: 25000
num_eval_episodes: 10
fixed_eval: false
pixels: false
normalize_obs: true
device: cuda
action_repeat: 1
log_freq: 10000
log_save_tb: false
save_video: false
delete_replay_at_end: true
save_freq: 100000
save_best_eval: true
save_zfill: 7
seed: 9
num_initial_states: null
max_episode_steps: null
model_free_hidden_dim: 512
model_free_hidden_depth: 4
obs_dim: ???
action_dim: ???
action_range: ???
agent:
  _target_: svg.agent.SACSVGAgent
  env_name: ${env_name}
  obs_dim: ${obs_dim}
  action_dim: ${action_dim}
  action_range: ${action_range}
  device: ${device}
  dx_cfg: ${dx}
  num_train_steps: ${num_train_steps}
  temp_cfg: ${learn_temp}
  actor_cfg: ${normal_actor}
  actor_lr: 0.0001
  actor_betas:
  - 0.9
  - 0.999
  actor_update_freq: 1
  actor_mve: true
  actor_detach_rho: false
  actor_dx_threshold: null
  critic_cfg: ${double_q_critic}
  critic_lr: 0.0001
  critic_tau: 0.005
  critic_target_update_freq: 1
  critic_target_mve: false
  full_target_mve: false
  discount: 0.99
  seq_batch_size: 512
  step_batch_size: 1024
  horizon: 3
  seq_train_length: ${agent.horizon}
  update_freq: 1
  model_update_freq: 1
  model_update_repeat: 4
  model_free_update_repeat: 1
  rew_hidden_dim: 512
  rew_hidden_depth: 2
  rew_lr: 0.001
  done_hidden_dim: 512
  done_hidden_depth: 2
  done_lr: 0.001
  done_ctrl_accum: true
  warmup_steps: 10000
  det_suffix: 0.0
dx:
  _target_: svg.dx.SeqDx
  env_name: ${env_name}
  obs_dim: ${obs_dim}
  action_dim: ${action_dim}
  action_range: ${action_range}
  horizon: ${agent.horizon}
  device: ${device}
  detach_xt: true
  xu_enc_hidden_dim: 512
  xu_enc_hidden_depth: 2
  x_dec_hidden_dim: 512
  x_dec_hidden_depth: 0
  clip_grad_norm: 1.0
  rec_type: GRU
  rec_latent_dim: 512
  rec_num_layers: 2
  lr: 0.001
normal_actor:
  _target_: svg.actor.Actor
  obs_dim: ${obs_dim}
  action_dim: ${action_dim}
  hidden_dim: ${model_free_hidden_dim}
  hidden_depth: ${model_free_hidden_depth}
  log_std_bounds:
  - -5
  - 2
double_q_critic:
  _target_: svg.critic.DoubleQCritic
  obs_dim: ${obs_dim}
  action_dim: ${action_dim}
  hidden_dim: ${model_free_hidden_dim}
  hidden_depth: ${model_free_hidden_depth}
learn_temp:
  _target_: svg.temp.LearnTemp
  init_temp: 0.1
  max_steps: ${num_train_steps}
  init_targ_entr: -2
  final_targ_entr: -2
  entr_decay_factor: 1.0
  only_decrease_alpha: false
  lr: 0.0001
  device: ${device}
env_name: mbpo_humanoid
num_train_steps: 5000000.0
