| { | |
| "method": "iql_tau09", | |
| "display_name": "IQL (tau=0.9)", | |
| "hyperparameters": { | |
| "algorithm": "IQL", | |
| "tau_expectile": 0.9, | |
| "beta": 3.0, | |
| "lr": 0.0003, | |
| "batch_size": 256, | |
| "discount": 0.99, | |
| "target_update_rate": 0.005, | |
| "num_iterations": 100000, | |
| "hidden_dims": [ | |
| 256, | |
| 256 | |
| ], | |
| "state_normalization": "zero_mean_unit_var" | |
| }, | |
| "metrics": { | |
| "action_mse": 0.001213, | |
| "gazebo_success_rate": "0/5 (0%)", | |
| "gazebo_avg_lift": 0.0063 | |
| }, | |
| "state_dim": 9, | |
| "action_dim": 9, | |
| "robot": "fetch", | |
| "task": "pick-and-place" | |
| } |