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
  • kl_step
  • init_traj_distr
  • sample_on_policy
  • inner_iterations
  • dynamics
  • min_step_mult
  • min_eta
  • max_step_mult
  • traj_opt
  • cost

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

  • random_seed
  • use_gpu
  • gpu_id
  • batch_size
  • lr
  • ent_reg
  • weights_file_prefix
  • network_model
  • iterations
  • network_arch_params
  • lr_policy
  • weight_decay
  • init_var
  • momentum
  • solver_type

Policy Prior & GMM

  • strength
  • keep_samples
  • max_clusters
  • strength
  • min_samples_per_cluster
  • max_samples

Dynamics

Dynamics GMM Prior

  • 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

  • render

Mujoco agent

  • camera_pos
  • substeps
  • image_channels
  • image_width
  • image_height
  • meta_include

ROS agent