Mujoco Environments Benchmarks

Run Parameters

n_runs

25

n_epochs

50

n_steps

30000

n_episodes_test

10

Hopper-v3

A2C:
  actor_lr: 0.0007
  batch_size: 64
  critic_lr: 0.0007
  critic_network: A2CNetwork
  ent_coeff: 0.01
  eps_actor: 0.003
  eps_critic: 1.0e-05
  max_grad_norm: 0.5
  n_features: 64
  preprocessors: StandardizationPreprocessor
DDPG:
  actor_lr: 0.0001
  actor_network: DDPGActorNetwork
  batch_size: 128
  critic_lr: 0.001
  critic_network: DDPGCriticNetwork
  initial_replay_size: 5000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.001
PPO:
  actor_lr: 0.0003
  batch_size: 32
  critic_fit_params: null
  critic_lr: 0.0003
  critic_network: TRPONetwork
  eps: 0.2
  lam: 0.95
  n_epochs_policy: 10
  n_features: 32
  n_steps_per_fit: 2000
  preprocessors: StandardizationPreprocessor
SAC:
  actor_lr: 0.0001
  actor_network: SACActorNetwork
  batch_size: 256
  critic_lr: 0.0003
  critic_network: SACCriticNetwork
  initial_replay_size: 5000
  lr_alpha: 0.0003
  max_replay_size: 500000
  n_features: 256
  preprocessors: null
  target_entropy: null
  tau: 0.005
  warmup_transitions: 10000
TD3:
  actor_lr: 0.001
  actor_network: TD3ActorNetwork
  batch_size: 100
  critic_lr: 0.001
  critic_network: TD3CriticNetwork
  initial_replay_size: 1000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.005
TRPO:
  batch_size: 64
  cg_damping: 0.01
  cg_residual_tol: 1.0e-10
  critic_fit_params: null
  critic_lr: 0.001
  critic_network: TRPONetwork
  ent_coeff: 0.0
  lam: 0.95
  max_kl: 0.01
  n_epochs_cg: 100
  n_epochs_line_search: 10
  n_features: 32
  n_steps_per_fit: 1000
  preprocessors: StandardizationPreprocessor
../../../_images/J7.png ../../../_images/R7.png ../../../_images/entropy6.png

Walker2d-v3

A2C:
  actor_lr: 0.0007
  batch_size: 64
  critic_lr: 0.0007
  critic_network: A2CNetwork
  ent_coeff: 0.01
  eps_actor: 0.003
  eps_critic: 1.0e-05
  max_grad_norm: 0.5
  n_features: 64
  preprocessors: StandardizationPreprocessor
DDPG:
  actor_lr: 0.0001
  actor_network: DDPGActorNetwork
  batch_size: 128
  critic_lr: 0.001
  critic_network: DDPGCriticNetwork
  initial_replay_size: 5000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.001
PPO:
  actor_lr: 0.0003
  batch_size: 32
  critic_fit_params: null
  critic_lr: 0.0003
  critic_network: TRPONetwork
  eps: 0.2
  lam: 0.95
  n_epochs_policy: 10
  n_features: 32
  n_steps_per_fit: 2000
  preprocessors: StandardizationPreprocessor
SAC:
  actor_lr: 0.0001
  actor_network: SACActorNetwork
  batch_size: 256
  critic_lr: 0.0003
  critic_network: SACCriticNetwork
  initial_replay_size: 5000
  lr_alpha: 0.0003
  max_replay_size: 500000
  n_features: 256
  preprocessors: null
  target_entropy: null
  tau: 0.005
  warmup_transitions: 10000
TD3:
  actor_lr: 0.001
  actor_network: TD3ActorNetwork
  batch_size: 100
  critic_lr: 0.001
  critic_network: TD3CriticNetwork
  initial_replay_size: 1000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.005
TRPO:
  batch_size: 64
  cg_damping: 0.01
  cg_residual_tol: 1.0e-10
  critic_fit_params: null
  critic_lr: 0.001
  critic_network: TRPONetwork
  ent_coeff: 0.0
  lam: 0.95
  max_kl: 0.01
  n_epochs_cg: 100
  n_epochs_line_search: 10
  n_features: 32
  n_steps_per_fit: 1000
  preprocessors: StandardizationPreprocessor
../../../_images/J8.png ../../../_images/R8.png ../../../_images/entropy7.png

HalfCheetah-v3

A2C:
  actor_lr: 0.0007
  batch_size: 64
  critic_lr: 0.0007
  critic_network: A2CNetwork
  ent_coeff: 0.01
  eps_actor: 0.003
  eps_critic: 1.0e-05
  max_grad_norm: 0.5
  n_features: 64
  preprocessors: StandardizationPreprocessor
DDPG:
  actor_lr: 0.0001
  actor_network: DDPGActorNetwork
  batch_size: 128
  critic_lr: 0.001
  critic_network: DDPGCriticNetwork
  initial_replay_size: 5000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.001
PPO:
  actor_lr: 0.0003
  batch_size: 32
  critic_fit_params: null
  critic_lr: 0.0003
  critic_network: TRPONetwork
  eps: 0.2
  lam: 0.95
  n_epochs_policy: 10
  n_features: 32
  n_steps_per_fit: 2000
  preprocessors: StandardizationPreprocessor
SAC:
  actor_lr: 0.0001
  actor_network: SACActorNetwork
  batch_size: 256
  critic_lr: 0.0003
  critic_network: SACCriticNetwork
  initial_replay_size: 5000
  lr_alpha: 0.0003
  max_replay_size: 500000
  n_features: 256
  preprocessors: null
  target_entropy: null
  tau: 0.005
  warmup_transitions: 10000
TD3:
  actor_lr: 0.001
  actor_network: TD3ActorNetwork
  batch_size: 100
  critic_lr: 0.001
  critic_network: TD3CriticNetwork
  initial_replay_size: 10000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.005

TRPO:
  batch_size: 64
  cg_damping: 0.01
  cg_residual_tol: 1.0e-10
  critic_fit_params: null
  critic_lr: 0.001
  critic_network: TRPONetwork
  ent_coeff: 0.0
  lam: 0.95
  max_kl: 0.01
  n_epochs_cg: 100
  n_epochs_line_search: 10
  n_features: 32
  n_steps_per_fit: 1000
  preprocessors: StandardizationPreprocessor
../../../_images/J9.png ../../../_images/R9.png ../../../_images/entropy8.png

Ant-v3

A2C:
  actor_lr: 0.0007
  batch_size: 64
  critic_lr: 0.0007
  critic_network: A2CNetwork
  ent_coeff: 0.01
  eps_actor: 0.003
  eps_critic: 1.0e-05
  max_grad_norm: 0.5
  n_features: 64
  preprocessors: StandardizationPreprocessor
DDPG:
  actor_lr: 0.0001
  actor_network: DDPGActorNetwork
  batch_size: 128
  critic_lr: 0.001
  critic_network: DDPGCriticNetwork
  initial_replay_size: 5000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.001
PPO:
  actor_lr: 0.0003
  batch_size: 32
  critic_fit_params: null
  critic_lr: 0.0003
  critic_network: TRPONetwork
  eps: 0.2
  lam: 0.95
  n_epochs_policy: 10
  n_features: 32
  n_steps_per_fit: 2000
  preprocessors: StandardizationPreprocessor
SAC:
  actor_lr: 0.0001
  actor_network: SACActorNetwork
  batch_size: 256
  critic_lr: 0.0003
  critic_network: SACCriticNetwork
  initial_replay_size: 5000
  lr_alpha: 0.0003
  max_replay_size: 500000
  n_features: 256
  preprocessors: null
  target_entropy: null
  tau: 0.005
  warmup_transitions: 10000
TD3:
  actor_lr: 0.001
  actor_network: TD3ActorNetwork
  batch_size: 100
  critic_lr: 0.001
  critic_network: TD3CriticNetwork
  initial_replay_size: 10000
  max_replay_size: 1000000
  n_features:
  - 400
  - 300
  tau: 0.005
TRPO:
  batch_size: 64
  cg_damping: 0.01
  cg_residual_tol: 1.0e-10
  critic_fit_params: null
  critic_lr: 0.001
  critic_network: TRPONetwork
  ent_coeff: 0.0
  lam: 0.95
  max_kl: 0.01
  n_epochs_cg: 100
  n_epochs_line_search: 10
  n_features: 32
  n_steps_per_fit: 1000
  preprocessors: StandardizationPreprocessor
../../../_images/J10.png ../../../_images/R10.png ../../../_images/entropy9.png