diff --git a/scripts/reinforcement_learning/skrl/play.py b/scripts/reinforcement_learning/skrl/play.py index b4d52c39e8c..6be6b0eae3b 100644 --- a/scripts/reinforcement_learning/skrl/play.py +++ b/scripts/reinforcement_learning/skrl/play.py @@ -121,6 +121,7 @@ agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm in ["ppo"] else f"skrl_{algorithm}_cfg_entry_point" else: agent_cfg_entry_point = args_cli.agent + algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower() @hydra_task_config(args_cli.task, agent_cfg_entry_point) diff --git a/scripts/reinforcement_learning/skrl/train.py b/scripts/reinforcement_learning/skrl/train.py index 83bd49f94f9..2eb08714611 100644 --- a/scripts/reinforcement_learning/skrl/train.py +++ b/scripts/reinforcement_learning/skrl/train.py @@ -119,6 +119,7 @@ agent_cfg_entry_point = "skrl_cfg_entry_point" if algorithm in ["ppo"] else f"skrl_{algorithm}_cfg_entry_point" else: agent_cfg_entry_point = args_cli.agent + algorithm = agent_cfg_entry_point.split("_cfg")[0].split("skrl_")[-1].lower() @hydra_task_config(args_cli.task, agent_cfg_entry_point) diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/skrl_ppo_cfg.yaml index 1d0eb42d37c..42917104e36 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/skrl_ppo_cfg.yaml index 9701ac0a8c5..78dcc9de5d1 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/ant/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_flat_ppo_cfg.yaml index bcaf9abbb5c..693ca6c2b30 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_rough_ppo_cfg.yaml index 63d05fb1364..f235de692af 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/anymal_c/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml index 2ddc221af81..2f66ad8d20a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml index 7d9885205d4..ee30acb3484 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml index cd8fff7ba72..c053b5b0035 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_camera_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_camera_ppo_cfg.yaml index 18719d99197..17fcf9c7271 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_camera_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_camera_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: features_extractor - input: permute(STATES, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC + input: permute(OBSERVATIONS, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC layers: - conv2d: {out_channels: 32, kernel_size: 8, stride: 4, padding: 0} - conv2d: {out_channels: 64, kernel_size: 4, stride: 2, padding: 0} @@ -36,7 +36,7 @@ models: clip_actions: False network: - name: features_extractor - input: permute(STATES, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC + input: permute(OBSERVATIONS, (0, 3, 1, 2)) # PyTorch NHWC -> NCHW. Warning: don't permute for JAX since it expects NHWC layers: - conv2d: {out_channels: 32, kernel_size: 8, stride: 4, padding: 0} - conv2d: {out_channels: 64, kernel_size: 4, stride: 2, padding: 0} diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_ppo_cfg.yaml index 661acc55bad..83bcf50162a 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/skrl_ppo_cfg.yaml index 41a56f82fc2..d1cf5a6b5df 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/skrl_ppo_cfg.yaml index aa0786091ee..130d1999ec3 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [400, 200, 100] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [400, 200, 100] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml index 6b26961e3b6..090d5eb90a6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml @@ -20,7 +20,7 @@ models: fixed_log_std: True network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ACTIONS @@ -29,7 +29,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE @@ -38,7 +38,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml index 4571db8777c..f74cecfeb64 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml @@ -20,7 +20,7 @@ models: fixed_log_std: True network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ACTIONS @@ -29,7 +29,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE @@ -38,7 +38,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml index 7cfa1dc367a..727258be3ca 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml @@ -20,7 +20,7 @@ models: fixed_log_std: True network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ACTIONS @@ -29,7 +29,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE @@ -38,7 +38,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/skrl_ppo_cfg.yaml index bd7ac17eec0..3353c5786af 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [64, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [64, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ff_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ff_ppo_cfg.yaml index 9d4da11bbbb..7ef224f78eb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ff_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ff_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [400, 400, 200, 100] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ppo_cfg.yaml index d0d82c6c77e..cae9a8445e3 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml index c9bf684b008..84f23d446f6 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml index 7dd38e3096d..479219a8628 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ppo_cfg.yaml index 38b8f6ce014..789738bdf90 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/skrl_ppo_cfg.yaml index 48eaa50c03c..4375afee0cb 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/skrl_ppo_cfg.yaml index d5c8157ce35..4a2b308e670 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/skrl_ppo_cfg.yaml index d471c535f91..e9f3913a029 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [400, 200, 100] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [400, 200, 100] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_flat_ppo_cfg.yaml index 3ef50e08dcc..873657e3578 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_rough_ppo_cfg.yaml index 7c4577efc4e..b8227096f5d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/a1/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_flat_ppo_cfg.yaml index e6c7fdc17c0..d8c336da407 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_rough_ppo_cfg.yaml index 4ea1d0a4044..2273df9c37d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml index e8fb16d26cb..f0942278b83 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_rough_ppo_cfg.yaml index 3c929fa0ee8..5c7fedf07b0 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_c/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_flat_ppo_cfg.yaml index 33627d76a3e..88a2bc75b25 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_rough_ppo_cfg.yaml index ea54efbb14e..9df85573ef5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_flat_ppo_cfg.yaml index 43ddef1bcd7..dd80f5fd196 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_rough_ppo_cfg.yaml index db92e1f86ce..883148f878e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/cassie/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_flat_ppo_cfg.yaml index 3aa08627382..b6ecdf1f301 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_rough_ppo_cfg.yaml index 3d9390bf722..6013e3f070d 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/g1/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_flat_ppo_cfg.yaml index 51445b2aadb..7cd7c9bb5b5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_rough_ppo_cfg.yaml index cbd8389751c..79daaec43f2 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go1/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_flat_ppo_cfg.yaml index e7be95a9196..1b3ecf74fd5 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_rough_ppo_cfg.yaml index 4fef61da4a3..aeffb439a17 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/go2/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_flat_ppo_cfg.yaml index a6166fcb1d3..1bcc39eb42e 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_rough_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_rough_ppo_cfg.yaml index d111bdc8024..7538f906a21 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_rough_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/h1/agents/skrl_rough_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/skrl_flat_ppo_cfg.yaml index 104e205d4b6..c380e841e4c 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/spot/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/skrl_ppo_cfg.yaml index 341db684146..4e81f3673de 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/franka/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/skrl_ppo_cfg.yaml index 1537f0d4c44..6e12c4940fa 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [512, 256, 128] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml index 6d5d34de5a3..5ddcf1713e7 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/franka/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [256, 128, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml index 62cef0dde2d..d6cf3c8dd25 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [64, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [64, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/skrl_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/skrl_ppo_cfg.yaml index f6412089ff0..f14c8a6094b 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/skrl_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/agents/skrl_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [64, 64] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [64, 64] activations: elu output: ONE diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml index 005f95806d1..5473188cbd8 100644 --- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml +++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/config/anymal_c/agents/skrl_flat_ppo_cfg.yaml @@ -19,7 +19,7 @@ models: initial_log_std: -0.6931471805599453 network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128] activations: elu output: ACTIONS @@ -28,7 +28,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [128, 128] activations: elu output: ONE diff --git a/tools/template/templates/agents/skrl_amp_cfg b/tools/template/templates/agents/skrl_amp_cfg index e435b44eac9..0946e4c6e6f 100644 --- a/tools/template/templates/agents/skrl_amp_cfg +++ b/tools/template/templates/agents/skrl_amp_cfg @@ -15,7 +15,7 @@ models: fixed_log_std: True network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ACTIONS @@ -24,7 +24,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE @@ -33,7 +33,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [1024, 512] activations: relu output: ONE diff --git a/tools/template/templates/agents/skrl_ippo_cfg b/tools/template/templates/agents/skrl_ippo_cfg index bc0c5182179..a89939f9554 100644 --- a/tools/template/templates/agents/skrl_ippo_cfg +++ b/tools/template/templates/agents/skrl_ippo_cfg @@ -14,7 +14,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -23,7 +23,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/tools/template/templates/agents/skrl_mappo_cfg b/tools/template/templates/agents/skrl_mappo_cfg index dcd794f57a5..255b30eac81 100644 --- a/tools/template/templates/agents/skrl_mappo_cfg +++ b/tools/template/templates/agents/skrl_mappo_cfg @@ -14,7 +14,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -23,7 +23,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE diff --git a/tools/template/templates/agents/skrl_ppo_cfg b/tools/template/templates/agents/skrl_ppo_cfg index 1efe67083a5..96515145fab 100644 --- a/tools/template/templates/agents/skrl_ppo_cfg +++ b/tools/template/templates/agents/skrl_ppo_cfg @@ -14,7 +14,7 @@ models: initial_log_std: 0.0 network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ACTIONS @@ -23,7 +23,7 @@ models: clip_actions: False network: - name: net - input: STATES + input: OBSERVATIONS layers: [32, 32] activations: elu output: ONE