ss_baselines/savi/config/semantic_audionav_distractor/savi.yaml [11:47]:
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RL:
  PPO:
    clip_param: 0.2
    ppo_epoch: 2
    num_mini_batch: 2
    value_loss_coef: 0.5
    entropy_coef: 0.05
    lr: 2.5e-4
    eps: 1e-5
    max_grad_norm: 0.2
    # decide the length of history that ppo encodes
    num_steps: 150
    hidden_size: 512
    use_gae: True
    gamma: 0.99
    tau: 0.95
    use_linear_clip_decay: False
    use_linear_lr_decay: False
    # window size for calculating the past rewards
    reward_window_size: 50
    use_normalized_advantage: False
    policy_type: "smt"
    use_belief_predictor: True
    use_external_memory: True
    SCENE_MEMORY_TRANSFORMER:
      memory_size: 150
      hidden_size: 256
      nhead: 8
      num_encoder_layers: 1
      num_decoder_layers: 1
      dropout: 0.0
      activation: 'relu'
      use_pretrained: False
      pretrained_path: ''
      freeze_encoders: True
      pretraining: False
    BELIEF_PREDICTOR:
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ss_baselines/savi/config/semantic_audionav_distractor/savi_no_location.yaml [15:51]:
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RL:
  PPO:
    clip_param: 0.2
    ppo_epoch: 2
    num_mini_batch: 2
    value_loss_coef: 0.5
    entropy_coef: 0.05
    lr: 2.5e-4
    eps: 1e-5
    max_grad_norm: 0.2
    # decide the length of history that ppo encodes
    num_steps: 150
    hidden_size: 512
    use_gae: True
    gamma: 0.99
    tau: 0.95
    use_linear_clip_decay: False
    use_linear_lr_decay: False
    # window size for calculating the past rewards
    reward_window_size: 50
    use_normalized_advantage: False
    policy_type: "smt"
    use_belief_predictor: True
    use_external_memory: True
    SCENE_MEMORY_TRANSFORMER:
      memory_size: 150
      hidden_size: 256
      nhead: 8
      num_encoder_layers: 1
      num_decoder_layers: 1
      dropout: 0.0
      activation: 'relu'
      use_pretrained: False
      pretrained_path: ''
      freeze_encoders: True
      pretraining: False
    BELIEF_PREDICTOR:
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