amrmousa-m

Amrmousa-m's group workspace

Group: Ours

1-3

of 3

Tags

Notes

OURS S96

Author

amrmousa-m

State

Finished

Start time

July 23rd, 2025 10:13:21 PM

Runtime

12h 3m 25s

Tracked hours

12h 3m 14s

Run path

amrmousa-m/TAR_workspace/jt46zypz

Linux-6.8.0-63-generic-x86_64-with-glibc2.39

Python version

3.10.18

Git repository

git clone https://github.com/ammousa/TARLoco.git

Git state

git checkout -b "OURS_S96_5" 1f357fe21aa877b3417c273a3adb0cd207804a57

Command

/home/amrmousa/0-WORK/TARLoco/standalone/tarloco/train.py --task go1-train-tar-rnn-rough --max_iterations 20000 --headless --logger wandb --group OURS --device cuda:0 --note "OURS S96" --seed 96

System Hardware

CPU count	48
GPU count	2
GPU type	NVIDIA GeForce RTX 4090

W&B CLI Version

0.12.21

Group

Ours

Config parameters are your model's inputs. Learn more

▶
Config parameters:{} 3 keys
- ▶
  alg_cfg:{} 16 keys
- ▶
  policy_cfg:{} 15 keys
- ▶
  runner_cfg:{} 22 keys

Summary metrics are your model's outputs. Learn more

▶
Summary metrics:{} 31 keys
- Curriculum/terrain_levels:
  2.9507956504821777
- Episode_Reward/action_rate_l2:
  -0.16526779532432556
- Episode_Reward/ang_vel_xy_l2:
  -0.10945984721183775
- Episode_Reward/dof_acc_l2:
  -0.21829015016555783
- Episode_Reward/dof_pos_limits:
  0
- Episode_Reward/dof_torques_l2:
  -0.094252347946167
- Episode_Reward/feet_air_time:
  -0.0009341176482848824
- Episode_Reward/flat_orientation_l2:
  0
- Episode_Reward/lin_vel_z_l2:
  -0.03034965693950653
- Episode_Reward/track_ang_vel_z_exp:
  0.5173619985580444
- Episode_Reward/track_lin_vel_xy_exp:
  1.1381371021270752
- Episode_Reward/undesired_contacts:
  -0.0029346393421292305
- Episode_Termination/base_contact:
  0.75
- Episode_Termination/time_out:
  4.1666669845581055
- log_dir:
  "2025-07-23_23-13-09"
- Loss/entropy_loss:
  -0.12996560335159302
- Loss/learning_rate:
  0.00005
- Loss/mean_tar_loss:
  0.0008563625073293224
- Loss/mean_vel_mse_loss:
  0.1146450951695442
- Loss/surrogate:
  -0.0049829888419481
- Loss/value_function:
  0.025371051486581565
- Metrics/base_velocity/error_vel_xy:
  0.3398434519767761
- Metrics/base_velocity/error_vel_yaw:
  0.4470808506011963
- Perf/collection time:
  1.8133659362792969
- Perf/learning_time:
  0.28493618965148926
- Perf/total_fps:
  46,849
- Policy/mean_noise_std:
  0.7222554087638855
- Steps:
  19,998
- Train/mean_episode_length:
  907.12
- Train/mean_reward:
  21.14228217296302
- Train/reward_iter_score:
  14.82731819152832

This run produced these artifacts as outputs. Learn more

wandb-history

run-jt46zypz-history:v0