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mappo with transformers for utracking
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baselines/MAPPO/config/mappo_homogenous_transf_utracking.yaml
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| "LR": 0.0005 | ||
| "NUM_ENVS": 128 | ||
| "NUM_STEPS": 64 | ||
| "TOTAL_TIMESTEPS": 5e7 | ||
| "HIDDEN_DIM": 32 | ||
| "AGENT_NUM_LAYERS": 2 | ||
| "AGENT_NUM_HEADS": 4 | ||
| "AGENT_FF_DIM": 128 | ||
| "CRITIC_NUM_LAYERS": 2 | ||
| "CRITIC_NUM_HEADS": 4 | ||
| "CRITIC_FF_DIM": 128 | ||
| "UPDATE_EPOCHS": 4 | ||
| "NUM_MINIBATCHES": 4 | ||
| "GAMMA": 0.99 | ||
| "GAE_LAMBDA": 0.95 | ||
| "CLIP_EPS": 0.2 | ||
| "SCALE_CLIP_EPS": False | ||
| "ENT_COEF": 0.01 | ||
| "VF_COEF": 0.5 | ||
| "MAX_GRAD_NORM": 0.5 | ||
| "ACTIVATION": "relu" | ||
| "ANNEAL_LR": False | ||
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| # just for the | ||
| "FC_DIM_SIZE": 128 | ||
| "GRU_HIDDEN_DIM": 128 | ||
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| # ENV | ||
| "ENV_NAME": "utracking" | ||
| "ENV_KWARGS": { | ||
| "num_agents": 2, | ||
| "num_landmarks": 2, | ||
| "max_steps": 512, | ||
| "dt": 30, | ||
| "prop_range_landmark": [0, 5, 10, 15], # possible propulsor velocities of the landmarks | ||
| "rew_type": "follow", | ||
| "penalty_failed_episode": False, | ||
| "rew_pred_thr": 10, | ||
| "min_valid_distance": 5, | ||
| "min_init_distance": 30, | ||
| "max_init_distance": 200, | ||
| "pre_init_pos_len": 1000000, | ||
| "max_range_dist": 600, | ||
| "tracking_method": "pf", | ||
| "matrix_obs": True, # essential for transformer | ||
| "matrix_state": True, | ||
| "state_as_edges": False, | ||
| "pf_num_particles": 1000, | ||
| } | ||
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| # EXP | ||
| "SEED": 0 | ||
| "NUM_SEEDS": 1 | ||
| "TUNE": False | ||
| "SAVE_PATH": "models" | ||
| "ALG_NAME": "mappo_transformer" | ||
| "ANIMATION_LOG_INTERVAL": #0.33 # percentage of total update steps. animating will slow down training and use more memory | ||
| "ANIMATION_MAX_STEPS": 256 # should be the same of the env | ||
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| # WANDB | ||
| "WANDB_MODE": "online" | ||
| "ENTITY": "mttga" | ||
| "PROJECT": "utracking_new" | ||
| "WANDB_LOG_ALL_SEEDS": False | ||
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