Morph

config/morph.ini

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+[base]
+package = morph
+env_name = morph
+vec = native
+policy_name = Policy
+# rnn_name = Recurrent
+
+[policy]
+input_dim = 934
+action_dim = 69
+demo_dim = 358
+hidden = 512
+
+[env]
+motion_file = "resources/morph/amass_train_take6_upright.pkl"
+has_self_collision = True
+num_envs = 2048
+
+[train]
+seed = 1
+torch_deterministic = True
+device = cuda
+
+cpu_offload = False
+compile = False
+norm_adv = True
+target_kl = None
+
+total_timesteps = 1_000_000_000
+eval_timesteps = 100_000
+
+num_workers = 1
+num_envs = 1
+batch_size = 65536
+minibatch_size = 4096
+
+disc_coef = 5.0
+
+update_epochs = 6
+bptt_horizon = 32
+anneal_lr = False
+gae_lambda = 0.95
+gamma = 0.99
+clip_coef = 0.2
+clip_vloss = True
+vf_coef = 0.5
+vf_clip_coef = 0.2
+max_grad_norm = 1.0
+ent_coef = 0.0
+learning_rate = 2e-5
+checkpoint_interval = 1000