cfg.yaml

seed: 1
record_video: yes
environment:
  use_priv_vel: true
  use_slope_dots: true
  render: false
  num_envs: 200
  eval_every_n: 400
  num_threads: 20
  baseDim: 42
  geomDim: 2
  n_futures: 1
  simulation_dt: 0.0025
  control_dt: 0.01
  max_time: 6.0
  pid_coeff: 45.0
  slope_threshold: 0.08
  forwardVelRewardCoeff: 60
  lateralVelRewardCoeff: 20
  angularVelRewardCoeff: 35
  torqueRewardCoeff: 0.0
  deltaTorqueRewardCoeff: -0.0
  actionRewardCoeff: -0.05
  sidewaysRewardCoeff: -0.03
  jointSpeedRewardCoeff: -0.0007
  deltaContactRewardCoeff: -0.0
  deltaReleaseRewardCoeff: -0.0
  contactRewardCoeff: 0.0
  contactDistRewardCoeff: 0.0
  footSlipRewardCoeff: -0.2
  footClearenceRewardCoeff: 0.0
  contactChangeRewardCoeff: 0.0
  upwardRewardCoeff: -0.
  workRewardCoeff: -0.05
  yAccRewardCoeff: -0.0
  max_speed: 0.4
  lat_speed: 0.3
  ang_speed: 0.6
  alive_bonus: 18
  cost_coeff: 1.0
  cost_decay_fac: 0.997
  roughTerrain: true
  terrainFreq: 1
  dynNoise: 0.0
  privinfo: true
  includeGRF: false
  test: false
  randomize_friction: true
  randomize_mass: true
  randomize_motor_strength: true
  randomize_gains: true
  randomize_yaw: false
  fourier: false
  regular_dim: 46
  regular_fourier_dim: 128
  privy_fourier_dim: 2
  encoder_dim: 1
  fourier_scale: 50
  fourier_trainable: true
  fourier_value: true
  fourier_policy: true
  cts_target_speed: false
  target_speed_period: 1000
  target_end_speed: 3.0
  target_start_speed: 0.0
  observe_base_speed: false
  bodyLinearVel_avg_weight: 0.2
  target_speed_curriculum: false
  unnormalize_speed_vec: false
  speedTest: false
  history_len: 50
architecture:
  policy_net: [128, 128]
  value_net: [128, 128]
  freeze_encoder: false
  activation: tanh
  small_init: false
  speed_vec_start_idx: 42
  speed_vec_end_idx: 46
  layer_type: feedforward
  film_init_std: 0.1
test: false