config/humanoid_pretrain.yaml [30:60]:
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  video:
    record_all: false
video:
  interval: 500000

distributed:
  num_actors: 1
  num_learners: 1
  rdvu_path: /tmp

slurm:
  gpus_per_task: 2
  cpus_per_task: ${env.train_procs}

visdom:
  offline: true

env:
  name: ContCtrlgsPreTraining-v1
  eval_procs: 20
  train_procs: 20
  args:
    robot: ${robot}
    features: ${features}
    idle_steps: ${idle_steps}
    max_steps: ${horizon}
    precision: ${precision}
    resample_features: soft
    goal_sampling: uniform
    hard_reset_interval: 100
    implicit_soft_resets: true
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config/walker_pretrain.yaml [30:60]:
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  video:
    record_all: false
video:
  interval: 500000

distributed:
  num_actors: 1
  num_learners: 1
  rdvu_path: /tmp

slurm:
  gpus_per_task: 2
  cpus_per_task: ${env.train_procs}

visdom:
  offline: true

env:
  name: ContCtrlgsPreTraining-v1
  eval_procs: 20
  train_procs: 20
  args:
    robot: ${robot}
    features: ${features}
    idle_steps: ${idle_steps}
    max_steps: ${horizon}
    precision: ${precision}
    resample_features: soft
    goal_sampling: uniform
    hard_reset_interval: 100
    implicit_soft_resets: true
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