adding final bc configs, updating experiment to validate in longer intervals

2022-02-27 20:40:24 -08:00
parent 5f77398fd0
commit e110570092
5 changed files with 7 additions and 7 deletions
--- a/bc-experiment.py
+++ b/bc-experiment.py
@@ -117,7 +117,7 @@ def training_function(config):
        pi_opt.step()
        pi_lr_scheduler.step()

-        if epoch % 10 == 0:
+        if epoch % 25 == 0:
            gen_states, gen_actions, gen_rewards, gen_dones, gen_collisions = rollout(env_fn, policy.cpu(), n_episodes=60, max_steps_per_episode=200)
            gen_mean_episode_length = (~gen_dones).sum() / gen_states.shape[0]
            gen_mean_reward_per_episode = gen_rewards[~gen_dones].sum() / gen_states.shape[0]