run.yaml

env:
  env_name: cheetah/run
  pre_transform_image_size:               # 100 or 84
  - 100
  - 100
  image_size:                             # controls patch_size    
  - 84
  - 84
  action_repeat: 4
  frame_stack: 3
  replay_buffer_capacity: 100000

misc:
  exp_id: 'run'
  save_tb: false
  save_buffer: false
  save_video: false
  save_model: false
  detach_encoder: false
  log_interval: 100

train:
  agent: 'stm_agent'
  encoder_type: 'conv_0'
  decoder_type: 'trans_0'
  init_steps: 1000
  num_env_steps: 100100 # 500100
  batch_size: 512

eval:
  eval_freq: 5000
  num_eval_episodes: 10

critic:
  critic_lr: 2e-4
  critic_beta: 0.9
  critic_tau: 0.01
  critic_target_update_freq: 2

actor:
  actor_lr: 2e-4
  actor_beta: 0.9
  actor_log_std_min: -10
  actor_log_std_max: 2
  actor_update_freq: 2

stm_enc_dec:
  encoder_lr: 2e-4
  ac_hidden_dim: 1024
  proj_hidden_dim: 100
  mask_ratio: 0.5
  clip_frames: 16
  patch_size:
  - 7
  - 7
  block_size: 8
  num_layers: 4
  encoder_feature_dim: 64
  encoder_tau: 0.05
  num_dec_layers: 2
  num_dec_heads: 4
  num_filters: 64
  conts_weight: 0.1
  conts_bs: 6
  conts_skip: 0.075
  conts_mint: 0.07

sac:
  discount: 0.99
  init_temperature: 0.1
  alpha_lr: 1e-4
  alpha_beta: 0.5
  augmentation:
  - crop
  - intensity
  aug_prob: 1.0
  auxiliary_task_batch_size: 128
  auxiliary_task_lr: 2e-4
  momentum_tau: 0.05
  sigma: 0.1
  warmup: false