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fixes in kuka/racecar environment. kuka still doesn't train well, work-in-progress

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This commit is contained in:
Erwin Coumans
2017-11-01 18:06:47 -07:00
parent e4f58ddc33
commit 4798d66f19
8 changed files with 218 additions and 65 deletions
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6
examples/pybullet/gym/pybullet_envs/agents/configs.py
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@@ -34,7 +34,7 @@ def default():
# General
algorithm = ppo.PPOAlgorithm
num_agents = 10
eval_episodes = 25
eval_episodes = 20
use_gpu = False
# Network
network = networks.feed_forward_gaussian
@@ -47,7 +47,7 @@ def default():
init_mean_factor = 0.05
init_logstd = -1
# Optimization
update_every = 25
update_every = 20
policy_optimizer = 'AdamOptimizer'
value_optimizer = 'AdamOptimizer'
update_epochs_policy = 50
@@ -105,7 +105,7 @@ def pybullet_kuka_grasping():
locals().update(default())
# Environment
env = 'KukaBulletEnv-v0'
max_length = 10
max_length = 1000
steps = 1e7 # 10M
return locals()