23 lines
796 B
YAML
23 lines
796 B
YAML
# PPO tuned for MJX (1024+ parallel envs on GPU).
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# With 1024 envs, each timestep collects 1024 samples, so total_timesteps
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# can be much lower than the CPU config.
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hidden_sizes: [128, 128]
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total_timesteps: 300000 # 300K × 1024 envs ≈ 307M env steps
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rollout_steps: 1024 # PPO batch = 1024 envs × 1024 steps = 1M samples
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learning_epochs: 4
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mini_batches: 32 # keep mini-batch size similar to CPU config (~32K)
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discount_factor: 0.99
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gae_lambda: 0.95
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learning_rate: 0.001 # ~3x higher LR for 16x larger batch (sqrt scaling)
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clip_ratio: 0.2
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value_loss_scale: 0.5
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entropy_loss_scale: 0.05
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log_interval: 100 # log more often (shorter run)
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checkpoint_interval: 10000
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record_video_every: 10000
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# ClearML remote execution (GPU worker)
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remote: false
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