amrmousa-m

Amrmousa-m's group workspace

Group: SLR

1-3

of 3

Tags

Notes

SLR S96

Author

amrmousa-m

State

Finished

Start time

July 24th, 2025 10:54:36 PM

Runtime

23h 2m 13s

Tracked hours

23h 2m 3s

Run path

amrmousa-m/TAR_workspace/5nmxdryt

Linux-6.8.0-52-generic-x86_64-with-glibc2.35

Python version

3.10.18

Git repository

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

Git state

git checkout -b "SLR_S96_29" 1f357fe21aa877b3417c273a3adb0cd207804a57

Command

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

System Hardware

CPU count	8
GPU count	1
GPU type	NVIDIA GeForce RTX 4060 Ti

W&B CLI Version

0.12.21

Group

SLR

Config parameters are your model's inputs. Learn more

▶
Config parameters:{} 3 keys
- ▶
  alg_cfg:{} 15 keys
- ▶
  policy_cfg:{} 11 keys
- ▶
  runner_cfg:{} 22 keys

Summary metrics are your model's outputs. Learn more

▶
Summary metrics:{} 30 keys
- Curriculum/terrain_levels:
  1.6158956289291382
- Episode_Reward/action_rate_l2:
  -0.13362544775009155
- Episode_Reward/ang_vel_xy_l2:
  -0.07823490351438522
- Episode_Reward/dof_acc_l2:
  -0.1414644867181778
- Episode_Reward/dof_pos_limits:
  0
- Episode_Reward/dof_torques_l2:
  -0.07971636205911636
- Episode_Reward/feet_air_time:
  -0.0007376919384114444
- Episode_Reward/flat_orientation_l2:
  0
- Episode_Reward/lin_vel_z_l2:
  -0.03184955194592476
- Episode_Reward/track_ang_vel_z_exp:
  0.3510514199733734
- Episode_Reward/track_lin_vel_xy_exp:
  0.6897788047790527
- Episode_Reward/undesired_contacts:
  -0.002243055496364832
- Episode_Termination/base_contact:
  3.125
- Episode_Termination/time_out:
  2.4166667461395264
- log_dir:
  "2025-07-25_00-54-10"
- Loss/entropy_loss:
  -0.13692480325698853
- Loss/learning_rate:
  0.00001
- Loss/mean_triplet_loss:
  0.00009769508433237206
- Loss/surrogate:
  -0.0028629847976844756
- Loss/value_function:
  0.03411293514072895
- Metrics/base_velocity/error_vel_xy:
  0.3639190196990967
- Metrics/base_velocity/error_vel_yaw:
  0.33256861567497253
- Perf/collection time:
  3.573591947555542
- Perf/learning_time:
  0.495952844619751
- Perf/total_fps:
  24,156
- Policy/mean_noise_std:
  0.7686612010002136
- Steps:
  19,998
- Train/mean_episode_length:
  644.28
- Train/mean_reward:
  11.782130857855082
- Train/reward_iter_score:
  8.68552303314209

This run produced these artifacts as outputs. Learn more

wandb-history

run-5nmxdryt-history:v0