Skip to content

Instantly share code, notes, and snippets.

@krzentner
Created September 4, 2020 02:24
Show Gist options
  • Save krzentner/1b30f48286377908751da511f266544f to your computer and use it in GitHub Desktop.
Save krzentner/1b30f48286377908751da511f266544f to your computer and use it in GitHub Desktop.
{
"$type": "garage.experiment.local_runner.LocalRunner",
"_algo": {
"$type": "garage.torch.algos.pearl.PEARL",
"_batch_size": 256,
"_context_replay_buffers": {
"0": {
"$type": "garage.replay_buffer.path_buffer.PathBuffer",
"_buffer": {},
"_capacity": 1000000,
"_first_idx_of_next_path": 0,
"_path_segments": [],
"_transitions_stored": 0
},
"1": {
"$type": "garage.replay_buffer.path_buffer.PathBuffer",
"_buffer": {},
"_capacity": 1000000,
"_first_idx_of_next_path": 0,
"_path_segments": [],
"_transitions_stored": 0
}
},
"_discount": 0.99,
"_embedding_batch_size": 100,
"_embedding_mini_batch_size": 100,
"_env": [
{
"$type": "garage.sampler.env_update.SetTaskUpdate",
"_env_constructor": {
"$type": "builtins.function"
},
"_task": {
"direction": -1.0
}
},
{
"$type": "garage.sampler.env_update.SetTaskUpdate",
"_env_constructor": {
"$type": "builtins.function"
},
"_task": {
"direction": -1.0
}
}
],
"_evaluator": {
"$type": "garage.experiment.meta_evaluator.MetaEvaluator",
"_eval_itr": 0,
"_max_episode_length": 200,
"_n_exploration_eps": 10,
"_n_test_episodes": 1,
"_n_test_tasks": 2,
"_prefix": "MetaTest",
"_test_sampler": null,
"_test_task_names": null,
"_test_task_sampler": {
"$type": "garage.experiment.task_sampler.SetTaskSampler",
"_env": {
"$type": "garage.envs.normalized_env.NormalizedEnv",
"_env": {
"$type": "garage.envs.gym_env.GymEnv",
"_action_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF0669BBA0",
"shape": [
6
]
},
"_env": {
"$type": "garage.envs.mujoco.half_cheetah_dir_env.HalfCheetahDirEnv",
"_ezpickle_args": [],
"_ezpickle_kwargs": {},
"_task": {
"direction": 1.0
},
"_viewers": {},
"action_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF0669B888",
"shape": [
6
]
},
"data": "<mujoco_py.cymj.PyMjData object at 0x79f0118>",
"frame_skip": 5,
"init_qpos": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"init_qvel": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"metadata": {
"render.modes": [
"human",
"rgb_array",
"depth_array"
],
"video.frames_per_second": 20
},
"model": "<mujoco_py.cymj.PyMjModel object at 0x7be3bf8>",
"np_random": "RandomState(MT19937) at 0x7EFF0669BA98",
"observation_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF0669B990",
"shape": [
20
]
},
"sim": "<mujoco_py.cymj.MjSim object at 0x7eff064da378>",
"spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF0669B888",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF0669B990",
"shape": [
20
]
}
},
"viewer": null
},
"_max_episode_length": null,
"_observation_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF0669BCA8",
"shape": [
20
]
},
"_render_modes": [
"human",
"rgb_array",
"depth_array"
],
"_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF0669BBA0",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF0669BCA8",
"shape": [
20
]
}
},
"_step_cnt": null,
"_visualize": false
},
"_expected_action_scale": 1.0,
"_flatten_obs": true,
"_normalize_obs": false,
"_normalize_reward": false,
"_obs_alpha": 0.001,
"_obs_mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"_obs_var": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"_reward_alpha": 0.001,
"_reward_mean": 0.0,
"_reward_var": 1.0,
"_scale_reward": 1.0
},
"_env_constructor": {
"$type": "builtins.function"
}
},
"_worker_args": {
"accum_context": true,
"deterministic": true
},
"_worker_class": {
"$typename": "garage.torch.algos.pearl.PEARLWorker"
}
},
"_is_resuming": false,
"_kl_lambda": 0.1,
"_latent_dim": 5,
"_meta_batch_size": 2,
"_num_extra_rl_steps_posterior": 30000,
"_num_initial_steps": 100000,
"_num_steps_per_epoch": 100000,
"_num_steps_posterior": 0,
"_num_steps_prior": 20000,
"_num_tasks_sample": 2,
"_num_test_tasks": 2,
"_num_train_tasks": 2,
"_policy": {
"$type": "garage.torch.policies.context_conditioned_policy.ContextConditionedPolicy",
"_backward_hooks": {},
"_buffers": {
"z": {
"$type": "torch.Tensor"
},
"z_means": {
"$type": "torch.Tensor"
},
"z_vars": {
"$type": "torch.Tensor"
}
},
"_context": null,
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_latent_dim": 5,
"_load_state_dict_pre_hooks": {},
"_modules": {
"_context_encoder": {
"$type": "garage.torch.embeddings.mlp_encoder.MLPEncoder",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 27,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 10,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_output_dim": 10,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_policy": {
"$type": "garage.torch.policies.tanh_gaussian_mlp_policy.TanhGaussianMLPPolicy",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338468",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338360",
"shape": [
25
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_module": {
"$type": "garage.torch.modules.gaussian_mlp_module.GaussianMLPTwoHeadedModule",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {
"max_std_param": {
"$type": "torch.Tensor"
},
"min_std_param": {
"$type": "torch.Tensor"
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_hidden_b_init": {
"$type": "builtins.function"
},
"_hidden_nonlinearity": {
"$typename": "torch.nn.modules.activation.ReLU"
},
"_hidden_sizes": [
300,
300,
300
],
"_hidden_w_init": {
"$type": "builtins.function"
},
"_input_dim": 25.0,
"_layer_normalization": false,
"_learn_std": true,
"_load_state_dict_pre_hooks": {},
"_max_std": 7.38905609893065,
"_max_std_param": {
"$type": "torch.Tensor"
},
"_min_std": 2.061153622438558e-09,
"_min_std_param": {
"$type": "torch.Tensor"
},
"_modules": {
"_shared_mean_log_std_network": {
"$type": "garage.torch.modules.multi_headed_mlp_module.MultiHeadedMLPModule",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 25.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 6.0,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 6.0,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_norm_dist_class": {
"$typename": "garage.torch.distributions.tanh_normal.TanhNormal"
},
"_output_b_init": {
"$type": "builtins.function"
},
"_output_nonlinearity": null,
"_output_w_init": {
"$type": "builtins.function"
},
"_parameters": {
"_init_std": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"_std_hidden_b_init": {
"$type": "builtins.function"
},
"_std_hidden_nonlinearity": "<built-in method tanh of type object at 0x7eff9e9de860>",
"_std_hidden_sizes": [
32,
32
],
"_std_hidden_w_init": {
"$type": "builtins.function"
},
"_std_output_nonlinearity": null,
"_std_output_w_init": {
"$type": "builtins.function"
},
"_std_parameterization": "exp",
"training": true
}
},
"_name": "TanhGaussianPolicy",
"_obs_dim": 25.0,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"_use_information_bottleneck": true,
"_use_next_obs": false,
"training": true
},
"_policy_mean_reg_coeff": 0.001,
"_policy_optimizer": {
"$type": "torch.optim.adam.Adam",
"defaults": {
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"weight_decay": 0
},
"param_groups": [
{
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"params": [
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
}
],
"weight_decay": 0
}
],
"state": {}
},
"_policy_pre_activation_coeff": 0.0,
"_policy_std_reg_coeff": 0.001,
"_qf1": {
"$type": "garage.torch.q_functions.continuous_mlp_q_function.ContinuousMLPQFunction",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338468",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338360",
"shape": [
25
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 31.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 1,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_obs_dim": 25.0,
"_output_dim": 1,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_qf2": {
"$type": "garage.torch.q_functions.continuous_mlp_q_function.ContinuousMLPQFunction",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF0669BDB0",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF0669BEB8",
"shape": [
25
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 31.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 1,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_obs_dim": 25.0,
"_output_dim": 1,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_replay_buffer_size": 1000000,
"_replay_buffers": {
"0": {
"$type": "garage.replay_buffer.path_buffer.PathBuffer",
"_buffer": {},
"_capacity": 1000000,
"_first_idx_of_next_path": 0,
"_path_segments": [],
"_transitions_stored": 0
},
"1": {
"$type": "garage.replay_buffer.path_buffer.PathBuffer",
"_buffer": {},
"_capacity": 1000000,
"_first_idx_of_next_path": 0,
"_path_segments": [],
"_transitions_stored": 0
}
},
"_reward_scale": 5.0,
"_soft_target_tau": 0.005,
"_task_idx": null,
"_update_post_train": 1,
"_use_information_bottleneck": true,
"_use_next_obs_in_context": false,
"_vf": {
"$type": "garage.torch.q_functions.continuous_mlp_q_function.ContinuousMLPQFunction",
"_action_dim": 5.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338678",
"shape": [
5
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338570",
"shape": [
20
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 25.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 1,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_obs_dim": 20.0,
"_output_dim": 1,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"context_optimizer": {
"$type": "torch.optim.adam.Adam",
"defaults": {
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"weight_decay": 0
},
"param_groups": [
{
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"params": [
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
}
],
"weight_decay": 0
}
],
"state": {}
},
"max_episode_length": 200,
"qf1_optimizer": {
"$type": "torch.optim.adam.Adam",
"defaults": {
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"weight_decay": 0
},
"param_groups": [
{
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"params": [
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
}
],
"weight_decay": 0
}
],
"state": {}
},
"qf2_optimizer": {
"$type": "torch.optim.adam.Adam",
"defaults": {
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"weight_decay": 0
},
"param_groups": [
{
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"params": [
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
}
],
"weight_decay": 0
}
],
"state": {}
},
"target_vf": {
"$type": "garage.torch.q_functions.continuous_mlp_q_function.ContinuousMLPQFunction",
"_action_dim": 5.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338888",
"shape": [
5
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338780",
"shape": [
20
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 25.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 1,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_obs_dim": 20.0,
"_output_dim": 1,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"vf_criterion": {
"$type": "torch.nn.modules.loss.MSELoss",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"reduction": "mean",
"training": true
},
"vf_optimizer": {
"$type": "torch.optim.adam.Adam",
"defaults": {
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"weight_decay": 0
},
"param_groups": [
{
"amsgrad": false,
"betas": [
0.9,
0.999
],
"eps": 1e-08,
"lr": 0.0003,
"params": [
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
},
{
"$type": "torch.nn.parameter.Parameter"
}
],
"weight_decay": 0
}
],
"state": {}
}
},
"_env": {
"$type": "garage.envs.normalized_env.NormalizedEnv",
"_env": {
"$type": "garage.envs.gym_env.GymEnv",
"_action_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338048",
"shape": [
6
]
},
"_env": {
"$type": "garage.envs.mujoco.half_cheetah_dir_env.HalfCheetahDirEnv",
"_ezpickle_args": [],
"_ezpickle_kwargs": {},
"_task": {
"direction": -1.0
},
"_viewers": {},
"action_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338A98",
"shape": [
6
]
},
"data": "<mujoco_py.cymj.PyMjData object at 0x7bfd778>",
"frame_skip": 5,
"init_qpos": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"init_qvel": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"metadata": {
"render.modes": [
"human",
"rgb_array",
"depth_array"
],
"video.frames_per_second": 20
},
"model": "<mujoco_py.cymj.PyMjModel object at 0x94cc838>",
"np_random": "RandomState(MT19937) at 0x7EFF06338150",
"observation_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF06338990",
"shape": [
20
]
},
"sim": "<mujoco_py.cymj.MjSim object at 0x7eff062d3ea0>",
"spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338A98",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF06338990",
"shape": [
20
]
}
},
"viewer": null
},
"_max_episode_length": null,
"_observation_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF06338258",
"shape": [
20
]
},
"_render_modes": [
"human",
"rgb_array",
"depth_array"
],
"_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338048",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFF06338258",
"shape": [
20
]
}
},
"_step_cnt": null,
"_visualize": false
},
"_expected_action_scale": 1.0,
"_flatten_obs": true,
"_normalize_obs": false,
"_normalize_reward": false,
"_obs_alpha": 0.001,
"_obs_mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"_obs_var": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"_reward_alpha": 0.001,
"_reward_mean": 0.0,
"_reward_var": 1.0,
"_scale_reward": 1.0
},
"_has_setup": true,
"_itr_start_time": null,
"_n_workers": 1,
"_plot": false,
"_plotter": null,
"_sampler": {
"$type": "garage.sampler.local_sampler.LocalSampler",
"_agents": [
{
"$type": "garage.torch.policies.context_conditioned_policy.ContextConditionedPolicy",
"_backward_hooks": {},
"_buffers": {
"z": {
"$type": "torch.Tensor"
},
"z_means": {
"$type": "torch.Tensor"
},
"z_vars": {
"$type": "torch.Tensor"
}
},
"_context": null,
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_latent_dim": 5,
"_load_state_dict_pre_hooks": {},
"_modules": {
"_context_encoder": {
"$type": "garage.torch.embeddings.mlp_encoder.MLPEncoder",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 27,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 10,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_output_dim": 10,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_policy": {
"$type": "garage.torch.policies.tanh_gaussian_mlp_policy.TanhGaussianMLPPolicy",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338468",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338360",
"shape": [
25
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_module": {
"$type": "garage.torch.modules.gaussian_mlp_module.GaussianMLPTwoHeadedModule",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {
"max_std_param": {
"$type": "torch.Tensor"
},
"min_std_param": {
"$type": "torch.Tensor"
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_hidden_b_init": {
"$type": "builtins.function"
},
"_hidden_nonlinearity": {
"$typename": "torch.nn.modules.activation.ReLU"
},
"_hidden_sizes": [
300,
300,
300
],
"_hidden_w_init": {
"$type": "builtins.function"
},
"_input_dim": 25.0,
"_layer_normalization": false,
"_learn_std": true,
"_load_state_dict_pre_hooks": {},
"_max_std": 7.38905609893065,
"_max_std_param": {
"$type": "torch.Tensor"
},
"_min_std": 2.061153622438558e-09,
"_min_std_param": {
"$type": "torch.Tensor"
},
"_modules": {
"_shared_mean_log_std_network": {
"$type": "garage.torch.modules.multi_headed_mlp_module.MultiHeadedMLPModule",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 25.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 6.0,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 6.0,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_norm_dist_class": {
"$typename": "garage.torch.distributions.tanh_normal.TanhNormal"
},
"_output_b_init": {
"$type": "builtins.function"
},
"_output_nonlinearity": null,
"_output_w_init": {
"$type": "builtins.function"
},
"_parameters": {
"_init_std": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"_std_hidden_b_init": {
"$type": "builtins.function"
},
"_std_hidden_nonlinearity": "<built-in method tanh of type object at 0x7eff9e9de860>",
"_std_hidden_sizes": [
32,
32
],
"_std_hidden_w_init": {
"$type": "builtins.function"
},
"_std_output_nonlinearity": null,
"_std_output_w_init": {
"$type": "builtins.function"
},
"_std_parameterization": "exp",
"training": true
}
},
"_name": "TanhGaussianPolicy",
"_obs_dim": 25.0,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"_use_information_bottleneck": true,
"_use_next_obs": false,
"training": true
}
],
"_envs": [
{
"$type": "garage.envs.normalized_env.NormalizedEnv",
"_env": {
"$type": "garage.envs.gym_env.GymEnv",
"_action_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56678",
"shape": [
6
]
},
"_env": {
"$type": "garage.envs.mujoco.half_cheetah_dir_env.HalfCheetahDirEnv",
"_ezpickle_args": [],
"_ezpickle_kwargs": {},
"_task": {
"direction": -1.0
},
"_viewers": {},
"action_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56150",
"shape": [
6
]
},
"data": "<mujoco_py.cymj.PyMjData object at 0x6eb2a88>",
"frame_skip": 5,
"init_qpos": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"init_qvel": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"metadata": {
"render.modes": [
"human",
"rgb_array",
"depth_array"
],
"video.frames_per_second": 20
},
"model": "<mujoco_py.cymj.PyMjModel object at 0x82187108>",
"np_random": "RandomState(MT19937) at 0x7EFEF9D56360",
"observation_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56258",
"shape": [
20
]
},
"sim": "<mujoco_py.cymj.MjSim object at 0x7efef9d0b2f0>",
"spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56150",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56258",
"shape": [
20
]
}
},
"viewer": null
},
"_max_episode_length": null,
"_observation_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56780",
"shape": [
20
]
},
"_render_modes": [
"human",
"rgb_array",
"depth_array"
],
"_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56678",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56780",
"shape": [
20
]
}
},
"_step_cnt": null,
"_visualize": false
},
"_expected_action_scale": 1.0,
"_flatten_obs": true,
"_normalize_obs": false,
"_normalize_reward": false,
"_obs_alpha": 0.001,
"_obs_mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"_obs_var": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"_reward_alpha": 0.001,
"_reward_mean": 0.0,
"_reward_var": 1.0,
"_scale_reward": 1.0
}
],
"_factory": {
"$type": "garage.sampler.worker_factory.WorkerFactory",
"_max_episode_length": 200,
"_seed": 10000,
"_worker_args": {},
"_worker_class": {
"$typename": "garage.torch.algos.pearl.PEARLWorker"
},
"n_workers": 1
},
"_workers": [
{
"$type": "garage.torch.algos.pearl.PEARLWorker",
"_accum_context": false,
"_agent_infos": {},
"_deterministic": false,
"_env_steps": [],
"_eps_length": 0,
"_last_observations": [],
"_lengths": [],
"_max_episode_length": 200,
"_observations": [],
"_prev_obs": null,
"_seed": 10000,
"_worker_number": 0,
"agent": {
"$type": "garage.torch.policies.context_conditioned_policy.ContextConditionedPolicy",
"_backward_hooks": {},
"_buffers": {
"z": {
"$type": "torch.Tensor"
},
"z_means": {
"$type": "torch.Tensor"
},
"z_vars": {
"$type": "torch.Tensor"
}
},
"_context": null,
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_latent_dim": 5,
"_load_state_dict_pre_hooks": {},
"_modules": {
"_context_encoder": {
"$type": "garage.torch.embeddings.mlp_encoder.MLPEncoder",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 27,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 200,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"module": {
"$type": "builtins.function"
},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 200,
"out_features": 10,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_output_dim": 10,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_policy": {
"$type": "garage.torch.policies.tanh_gaussian_mlp_policy.TanhGaussianMLPPolicy",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {},
"_env_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338468",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFF06338360",
"shape": [
25
]
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_module": {
"$type": "garage.torch.modules.gaussian_mlp_module.GaussianMLPTwoHeadedModule",
"_action_dim": 6.0,
"_backward_hooks": {},
"_buffers": {
"max_std_param": {
"$type": "torch.Tensor"
},
"min_std_param": {
"$type": "torch.Tensor"
}
},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_hidden_b_init": {
"$type": "builtins.function"
},
"_hidden_nonlinearity": {
"$typename": "torch.nn.modules.activation.ReLU"
},
"_hidden_sizes": [
300,
300,
300
],
"_hidden_w_init": {
"$type": "builtins.function"
},
"_input_dim": 25.0,
"_layer_normalization": false,
"_learn_std": true,
"_load_state_dict_pre_hooks": {},
"_max_std": 7.38905609893065,
"_max_std_param": {
"$type": "torch.Tensor"
},
"_min_std": 2.061153622438558e-09,
"_min_std_param": {
"$type": "torch.Tensor"
},
"_modules": {
"_shared_mean_log_std_network": {
"$type": "garage.torch.modules.multi_headed_mlp_module.MultiHeadedMLPModule",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 25.0,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"2": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 300,
"training": true
},
"non_linearity": {
"$type": "garage.torch._functions.NonLinearity",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"module": {
"$type": "torch.nn.modules.activation.ReLU",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {},
"_state_dict_hooks": {},
"inplace": false,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"_output_layers": {
"$type": "torch.nn.modules.container.ModuleList",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"0": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 6.0,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
},
"1": {
"$type": "torch.nn.modules.container.Sequential",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {
"linear": {
"$type": "torch.nn.modules.linear.Linear",
"_backward_hooks": {},
"_buffers": {},
"_forward_hooks": {},
"_forward_pre_hooks": {},
"_load_state_dict_pre_hooks": {},
"_modules": {},
"_parameters": {
"bias": {
"$type": "torch.nn.parameter.Parameter"
},
"weight": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"in_features": 300,
"out_features": 6.0,
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_norm_dist_class": {
"$typename": "garage.torch.distributions.tanh_normal.TanhNormal"
},
"_output_b_init": {
"$type": "builtins.function"
},
"_output_nonlinearity": null,
"_output_w_init": {
"$type": "builtins.function"
},
"_parameters": {
"_init_std": {
"$type": "torch.nn.parameter.Parameter"
}
},
"_state_dict_hooks": {},
"_std_hidden_b_init": {
"$type": "builtins.function"
},
"_std_hidden_nonlinearity": "<built-in method tanh of type object at 0x7eff9e9de860>",
"_std_hidden_sizes": [
32,
32
],
"_std_hidden_w_init": {
"$type": "builtins.function"
},
"_std_output_nonlinearity": null,
"_std_output_w_init": {
"$type": "builtins.function"
},
"_std_parameterization": "exp",
"training": true
}
},
"_name": "TanhGaussianPolicy",
"_obs_dim": 25.0,
"_parameters": {},
"_state_dict_hooks": {},
"training": true
}
},
"_parameters": {},
"_state_dict_hooks": {},
"_use_information_bottleneck": true,
"_use_next_obs": false,
"training": true
},
"env": {
"$type": "garage.envs.normalized_env.NormalizedEnv",
"_env": {
"$type": "garage.envs.gym_env.GymEnv",
"_action_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56678",
"shape": [
6
]
},
"_env": {
"$type": "garage.envs.mujoco.half_cheetah_dir_env.HalfCheetahDirEnv",
"_ezpickle_args": [],
"_ezpickle_kwargs": {},
"_task": {
"direction": -1.0
},
"_viewers": {},
"action_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56150",
"shape": [
6
]
},
"data": "<mujoco_py.cymj.PyMjData object at 0x6eb2a88>",
"frame_skip": 5,
"init_qpos": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"init_qvel": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"metadata": {
"render.modes": [
"human",
"rgb_array",
"depth_array"
],
"video.frames_per_second": 20
},
"model": "<mujoco_py.cymj.PyMjModel object at 0x82187108>",
"np_random": "RandomState(MT19937) at 0x7EFEF9D56360",
"observation_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56258",
"shape": [
20
]
},
"sim": "<mujoco_py.cymj.MjSim object at 0x7efef9d0b2f0>",
"spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56150",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "gym.spaces.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56258",
"shape": [
20
]
}
},
"viewer": null
},
"_max_episode_length": null,
"_observation_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56780",
"shape": [
20
]
},
"_render_modes": [
"human",
"rgb_array",
"depth_array"
],
"_spec": {
"$type": "garage._environment.EnvSpec",
"_input_space": {
"$type": "akro.box.Box",
"bounded_above": [
true,
true,
true,
true,
true,
true
],
"bounded_below": [
true,
true,
true,
true,
true,
true
],
"dtype": "dtype('float32')",
"high": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"low": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56678",
"shape": [
6
]
},
"_max_episode_length": null,
"_output_space": {
"$type": "akro.box.Box",
"bounded_above": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"bounded_below": [
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false,
false
],
"dtype": "dtype('float32')",
"high": [
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity,
Infinity
],
"low": [
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity,
-Infinity
],
"np_random": "RandomState(MT19937) at 0x7EFEF9D56780",
"shape": [
20
]
}
},
"_step_cnt": null,
"_visualize": false
},
"_expected_action_scale": 1.0,
"_flatten_obs": true,
"_normalize_obs": false,
"_normalize_reward": false,
"_obs_alpha": 0.001,
"_obs_mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"_obs_var": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"_reward_alpha": 0.001,
"_reward_mean": 0.0,
"_reward_var": 1.0,
"_scale_reward": 1.0
}
}
]
},
"_setup_args": {
"$type": "garage.experiment.local_runner.SetupArgs",
"sampler_args": {
"max_episode_length": 200
},
"sampler_cls": {
"$typename": "garage.sampler.local_sampler.LocalSampler"
},
"seed": 10000
},
"_snapshotter": {
"$type": "garage.experiment.snapshotter.Snapshotter",
"_snapshot_dir": "/home/kr/garage/data/local/experiment/old_pearl_half_cheetah_dir_25",
"_snapshot_gap": 1,
"_snapshot_mode": "last"
},
"_start_time": null,
"_stats": {
"$type": "garage.experiment.local_runner.ExperimentStats",
"last_episode": null,
"total_env_steps": 0,
"total_epoch": 0,
"total_itr": 0
},
"_train_args": {
"$type": "garage.experiment.local_runner.TrainArgs",
"batch_size": 256,
"n_epochs": 500,
"pause_for_plot": false,
"plot": false,
"start_epoch": 0,
"store_episodes": false
},
"_worker_args": {},
"_worker_class": {
"$typename": "garage.torch.algos.pearl.PEARLWorker"
},
"enable_logging": true,
"step_episode": null,
"step_itr": null
}
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment