30 lines
912 B
YAML
30 lines
912 B
YAML
# PPO tuned for single-env real-time training on real hardware.
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# Inherits defaults + HPO ranges from ppo.yaml.
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# ~50 Hz control × 1 env = ~50 timesteps/s.
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# 100k timesteps ≈ 33 minutes of wall-clock training.
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defaults:
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- ppo
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- _self_
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hidden_sizes: [256, 256]
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total_timesteps: 2000000
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learning_epochs: 10
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learning_rate: 0.0005 # conservative — can't undo real-world damage
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entropy_loss_scale: 0.01
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rollout_steps: 2048
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mini_batches: 8
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log_interval: 2048
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checkpoint_interval: 5000 # frequent saves — can't rewind real hardware
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initial_log_std: -0.5 # moderate initial exploration
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min_log_std: -4.0
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max_log_std: 2.0 # cap σ at 1.0
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# Never run real-hardware training remotely
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remote: false
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# Tighter HPO ranges for real hardware (override base ppo.yaml ranges)
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hpo:
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entropy_loss_scale: {min: 0.00005, max: 0.001}
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learning_rate: {min: 0.0003, max: 0.003}
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