config.yaml

wandb_version: 1

_wandb:
  desc: null
  value:
    cli_version: 0.12.21
    framework: torch
    is_jupyter_run: false
    is_kaggle_kernel: false
    python_version: 3.10.15
    start_time: 1740218743
    t:
      1:
      - 1
      - 50
      - 55
      3:
      - 13
      - 14
      4: 3.10.15
      5: 0.12.21
      8:
      - 5
algo.checkpoint_path:
  desc: null
  value: null
algo.name:
  desc: null
  value: ppo
algo.num_minibatches:
  desc: null
  value: 16
algo.ppo_epochs:
  desc: null
  value: 4
algo.priv_actor:
  desc: null
  value: false
algo.priv_critic:
  desc: null
  value: false
algo.train_every:
  desc: null
  value: 32
enable_livestream:
  desc: null
  value: false
env.env_spacing:
  desc: null
  value: 6
env.max_episode_length:
  desc: null
  value: 200
env.num_envs:
  desc: null
  value: 2048
eval_interval:
  desc: null
  value: -1
headless:
  desc: null
  value: true
hf_entity:
  desc: null
  value: marinegym
max_iters:
  desc: null
  value: -1
save_interval:
  desc: null
  value: -1
seed:
  desc: null
  value: 0
sim.bounce_threshold_velocity:
  desc: null
  value: 0.2
sim.device:
  desc: null
  value: cuda:0
sim.dt:
  desc: null
  value: 0.016
sim.enable_stabilization:
  desc: null
  value: true
sim.friction_correlation_distance:
  desc: null
  value: 0.025
sim.friction_offset_threshold:
  desc: null
  value: 0.04
sim.gpu_found_lost_aggregate_pairs_capacity:
  desc: null
  value: 33554432
sim.gpu_found_lost_pairs_capacity:
  desc: null
  value: 4194304
sim.gpu_heap_capacity:
  desc: null
  value: 67108864
sim.gpu_max_num_partitions:
  desc: null
  value: 8
sim.gpu_max_particle_contacts:
  desc: null
  value: 1048576
sim.gpu_max_rigid_contact_count:
  desc: null
  value: 524288
sim.gpu_max_rigid_patch_count:
  desc: null
  value: 163840
sim.gpu_max_soft_body_contacts:
  desc: null
  value: 1048576
sim.gpu_temp_buffer_capacity:
  desc: null
  value: 16777216
sim.gpu_total_aggregate_pairs_capacity:
  desc: null
  value: 4194304
sim.gravity:
  desc: null
  value:
  - 0
  - 0
  - -9.81
sim.replicate_physics:
  desc: null
  value: false
sim.solver_type:
  desc: null
  value: 1
sim.substeps:
  desc: null
  value: 1
sim.use_flatcache:
  desc: null
  value: true
sim.use_gpu:
  desc: null
  value: true
sim.use_gpu_pipeline:
  desc: null
  value: true
task.action_transform:
  desc: null
  value: null
task.drone_model.controller:
  desc: null
  value: LeePositionController
task.drone_model.name:
  desc: null
  value: BlueROVHeavy
task.env.env_spacing:
  desc: null
  value: 6
task.env.max_episode_length:
  desc: null
  value: 200
task.env.num_envs:
  desc: null
  value: 2048
task.flow_velocity_gaussian_noise:
  desc: null
  value:
  - 0.2
  - 0.2
  - 0.2
  - 0.0
  - 0.0
  - 0.0
task.force_sensor:
  desc: null
  value: false
task.has_flow:
  desc: null
  value: true
task.max_flow_velocity:
  desc: null
  value:
  - 1.0
  - 1.0
  - 1.0
  - 0.0
  - 0.0
  - 0.0
task.name:
  desc: null
  value: Hover
task.reward_action_smoothness_weight:
  desc: null
  value: 0.0
task.reward_distance_scale:
  desc: null
  value: 1.2
task.reward_effort_weight:
  desc: null
  value: 0.1
task.reward_motion_smoothness_weight:
  desc: null
  value: 0.0
task.sim.bounce_threshold_velocity:
  desc: null
  value: 0.2
task.sim.device:
  desc: null
  value: cuda:0
task.sim.dt:
  desc: null
  value: 0.016
task.sim.enable_stabilization:
  desc: null
  value: true
task.sim.friction_correlation_distance:
  desc: null
  value: 0.025
task.sim.friction_offset_threshold:
  desc: null
  value: 0.04
task.sim.gpu_found_lost_aggregate_pairs_capacity:
  desc: null
  value: 33554432
task.sim.gpu_found_lost_pairs_capacity:
  desc: null
  value: 4194304
task.sim.gpu_heap_capacity:
  desc: null
  value: 67108864
task.sim.gpu_max_num_partitions:
  desc: null
  value: 8
task.sim.gpu_max_particle_contacts:
  desc: null
  value: 1048576
task.sim.gpu_max_rigid_contact_count:
  desc: null
  value: 524288
task.sim.gpu_max_rigid_patch_count:
  desc: null
  value: 163840
task.sim.gpu_max_soft_body_contacts:
  desc: null
  value: 1048576
task.sim.gpu_temp_buffer_capacity:
  desc: null
  value: 16777216
task.sim.gpu_total_aggregate_pairs_capacity:
  desc: null
  value: 4194304
task.sim.gravity:
  desc: null
  value:
  - 0
  - 0
  - -9.81
task.sim.replicate_physics:
  desc: null
  value: false
task.sim.solver_type:
  desc: null
  value: 1
task.sim.substeps:
  desc: null
  value: 1
task.sim.use_flatcache:
  desc: null
  value: true
task.sim.use_gpu:
  desc: null
  value: true
task.sim.use_gpu_pipeline:
  desc: null
  value: true
task.time_encoding:
  desc: null
  value: true
total_frames:
  desc: null
  value: 50000
upload_model:
  desc: null
  value: true
viewer.eye:
  desc: null
  value:
  - 8
  - 0.0
  - 6.0
viewer.lookat:
  desc: null
  value:
  - 0.0
  - 0.0
  - 1.0
viewer.resolution:
  desc: null
  value:
  - 960
  - 720
wandb.entity:
  desc: null
  value: zebin
wandb.group:
  desc: null
  value: Hover
wandb.job_type:
  desc: null
  value: train
wandb.mode:
  desc: null
  value: online
wandb.monitor_gym:
  desc: null
  value: true
wandb.project:
  desc: null
  value: omnidrones
wandb.run_id:
  desc: null
  value: null
wandb.run_name:
  desc: null
  value: Hover-ppo
wandb.tags:
  desc: null
  value: null