data/spec/spec_env_humanoid_imitation_expert2.yaml [3:109]:
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local_dir: /home/jungdam/Research/opensource/ScaDiver/data/learning/cmu/experts/
checkpoint_freq: 100
checkpoint_at_end: true
stop: 
    time_total_s: 720000
config:
    env: HumanoidImitation
    log_level: WARN
    gamma: 0.95
    lambda: 0.95
    clip_param: 0.2
    kl_coeff: 0.0
    vf_clip_param: 1000
    num_sgd_iter: 20
    lr: 0.00001
    sgd_minibatch_size: 500
    horizon: 900
    train_batch_size: 50000
    rollout_fragment_length: 100
    framework: torch
    num_envs_per_worker: 1
    num_cpus_per_worker: 1
    num_gpus_per_worker: 0
    model:
        custom_model: fcnn
        custom_model_config:
            log_std_type: constant
            sample_std: 0.1
    num_workers: 8
    num_gpus: 0
    batch_mode: truncate_episodes
    observation_filter: NoFilter
    env_config:
        lazy_creation: true
        project_dir: /home/jungdam/Research/opensource/ScaDiver/
        fps_sim: 480
        fps_con: 30
        self_collision: true
        add_noise: false
        verbose: false
        state:
            choices: ['body', 'task']
        action:
            type: "absolute" # 'absolute', 'relative'
            range_min: -3.0
            range_max: 3.0
            range_min_pol: -3.0
            range_max_pol: 3.0
        reward: 
            fn_def:
                default:
                    name: total
                    op: mul
                    child_nodes:
                      - name: pose_pos
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 40.0
                      - name: pose_vel
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 1.0
                      - name: ee
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 5.0
                      - name: root
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 2.5
                      - name: com
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 2.5
            fn_map:
                - default
        early_term:
            choices: # 'sim_div', 'sim_window', task_end', 'falldown', 'low_reward'
                - task_end
                - low_reward
            low_reward_thres: 0.1
            eoe_margin: 0.5
        character:
            name:
                - agent1
            char_info_module:
                - amass_char_info.py
            sim_char_file:
                - data/character/amass.urdf
            ref_motion_scale:
                - 1.0
            base_motion_file:
                - data/motion/amass_hierarchy.bvh
            ref_motion_db:
                -
                    data:
                        dir:
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data/spec/spec_env_humanoid_imitation_expert3.yaml [3:109]:
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local_dir: /home/jungdam/Research/opensource/ScaDiver/data/learning/cmu/experts/
checkpoint_freq: 100
checkpoint_at_end: true
stop: 
    time_total_s: 720000
config:
    env: HumanoidImitation
    log_level: WARN
    gamma: 0.95
    lambda: 0.95
    clip_param: 0.2
    kl_coeff: 0.0
    vf_clip_param: 1000
    num_sgd_iter: 20
    lr: 0.00001
    sgd_minibatch_size: 500
    horizon: 900
    train_batch_size: 50000
    rollout_fragment_length: 100
    framework: torch
    num_envs_per_worker: 1
    num_cpus_per_worker: 1
    num_gpus_per_worker: 0
    model:
        custom_model: fcnn
        custom_model_config:
            log_std_type: constant
            sample_std: 0.1
    num_workers: 8
    num_gpus: 0
    batch_mode: truncate_episodes
    observation_filter: NoFilter
    env_config:
        lazy_creation: true
        project_dir: /home/jungdam/Research/opensource/ScaDiver/
        fps_sim: 480
        fps_con: 30
        self_collision: true
        add_noise: false
        verbose: false
        state:
            choices: ['body', 'task']
        action:
            type: "absolute" # 'absolute', 'relative'
            range_min: -3.0
            range_max: 3.0
            range_min_pol: -3.0
            range_max_pol: 3.0
        reward: 
            fn_def:
                default:
                    name: total
                    op: mul
                    child_nodes:
                      - name: pose_pos
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 40.0
                      - name: pose_vel
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 1.0
                      - name: ee
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 5.0
                      - name: root
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 2.5
                      - name: com
                        op: leaf
                        weight: 1.0
                        kernel: 
                            type: gaussian
                            scale: 2.5
            fn_map:
                - default
        early_term:
            choices: # 'sim_div', 'sim_window', task_end', 'falldown', 'low_reward'
                - task_end
                - low_reward
            low_reward_thres: 0.1
            eoe_margin: 0.5
        character:
            name:
                - agent1
            char_info_module:
                - amass_char_info.py
            sim_char_file:
                - data/character/amass.urdf
            ref_motion_scale:
                - 1.0
            base_motion_file:
                - data/motion/amass_hierarchy.bvh
            ref_motion_db:
                -
                    data:
                        dir:
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