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experiments_config.py
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from typing import Dict, List, Union
Config = Dict[str, Union[str, int]]
all_experiments: Dict[str, List[Config]] = {
# OpenAI gym environments. Memory when 5 seeds running. Runs on GPU.
"gym": [
{"env_name": "HalfCheetah-v4"}, # <1.5GB in TD3 and SAC
{"env_name": "Hopper-v4"}, # <1.5GB in TD3 and SAC
{"env_name": "Humanoid-v4"}, # <4.1GB in SAC, 6.8GB in CrossQ
{"env_name": "Ant-v4"}, # <1.5GB in TD3
{"env_name": "Pendulum-v1"}, # <1GB in TD3, 1.25GB in SAC
],
# Shimmy wrapper for DeepMind control environments. Mem set for 2 seeds, comments for 1 seed.
"shimmy_dm_control": [
# {"env_name": "dm_control/acrobot-swingup", "mem": 9500}, # 0.6 GB in TD3, 0.5GB in SAC, 1.5GB in CrossQ.
# {"env_name": "dm_control/cheetah-run", "mem": 11000}, # 1.6 GB in CrossQ
{"env_name": "dm_control/dog-trot", "mem": 25000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "dm_control/dog-run", "mem": 25000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "dm_control/dog-walk", "mem": 25000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "dm_control/dog-stand", "mem": 25000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ. # TODO was 21000
# {"env_name": "dm_control/fish-swim", "mem": 9500}, # 0.8 GB in TD3, 0.6GB in SAC, 1.6GB in CrossQ.
# {"env_name": "dm_control/hopper-hop", "mem": 9500}, # 0.8 GB in TD3, 0.6GB in SAC, 1.6GB in CrossQ.
# {"env_name": "dm_control/humanoid-run", "mem": 12500}, # 2GB in CrossQ
{"env_name": "dm_control/humanoid-stand", "mem": 25000}, # 1.5 GB in TD3, 1GB in SAC, 2GB in CrossQ.
# {"env_name": "dm_control/humanoid-walk", "mem": 12500}, # 1.5 GB in TD3, 1GB in SAC, 2GB in CrossQ.
# {"env_name": "dm_control/pendulum-swingup", "mem": 9500}, # 1.4 GB in CrossQ
# {"env_name": "dm_control/quadruped-run", "mem": 12500}, # 1.5 GB in TD3, 1GB in SAC, 2.2GB in CrossQ.
# {"env_name": "dm_control/finger-turn_hard", "mem": 9500}, # 0.6 GB in TD3, 0.5GB in SAC, 1.5GB in CrossQ.
# {"env_name": "dm_control/walker-run", "mem": 11000}, # 0.8 GB in TD3, 0.6GB in SAC, 1.6GB in CrossQ.
],
# DeepMind control environments (memory in sufficient when run on Ares)
# Experiments were run on CPU, so memory usage is higher than on GPU.
# Mem set for 4 seeds, default where not set.
"dm_control": [
{"env_name": "acrobot_swingup"}, # 0.6 GB in TD3, 0.5GB in SAC, 1.5GB in CrossQ.
{"env_name": "cheetah_run", "mem": 11000}, # 1.6 GB in CrossQ
{"env_name": "dog_trot", "mem": 19000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "dog_run", "mem": 19000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "dog_walk", "mem": 19000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "dog_stand", "mem": 19000}, # 4.5 GB in TD3, 2.5GB in SAC, 3.5GB in CrossQ.
{"env_name": "fish_swim"}, # 0.8 GB in TD3, 0.6GB in SAC, 1.6GB in CrossQ.
{"env_name": "hopper_hop"}, # 0.8 GB in TD3, 0.6GB in SAC, 1.6GB in CrossQ.
{"env_name": "humanoid_run", "mem": 12000}, # 2GB in CrossQ
{"env_name": "humanoid_stand", "mem": 12000}, # 1.5 GB in TD3, 1GB in SAC, 2GB in CrossQ.
{"env_name": "humanoid_walk", "mem": 12000}, # 1.5 GB in TD3, 1GB in SAC, 2GB in CrossQ.
{"env_name": "pendulum_swingup"}, # 1.4 GB in CrossQ
{"env_name": "quadruped_run", "mem": 12000}, # 1.5 GB in TD3, 1GB in SAC, 2.2GB in CrossQ.
{"env_name": "walker_run"}, # 0.8 GB in TD3, 0.6GB in SAC, 1.6GB in CrossQ.
{"env_name": "finger_turn_hard"}, # 0.6 GB in TD3, 0.5GB in SAC, 1.5GB in CrossQ.
],
# MyoSuite environments
"myo": [
{"env_name": "myo-reach"},
{"env_name": "myo-reach-hard"},
{"env_name": "myo-pose"},
{"env_name": "myo-pose-hard"},
{"env_name": "myo-obj-hold"},
{"env_name": "myo-obj-hold-hard"},
{"env_name": "myo-key-turn"},
{"env_name": "myo-key-turn-hard"},
{"env_name": "myo-pen-twirl"},
{"env_name": "myo-pen-twirl-hard"},
],
# MetaWorld environments
"metaworld": [
{"env_name": "push-v2"},
{"env_name": "sweep-v2"},
{"env_name": "stick-pull-v2"},
{"env_name": "hand-insert-v2"},
{"env_name": "assembly-v2"},
{"env_name": "reach-v2"},
{"env_name": "coffee-push-v2"},
{"env_name": "coffee-pull-v2"},
{"env_name": "basketball-v2"},
{"env_name": "hammer-v2"},
{"env_name": "push-back-v2"},
{"env_name": "pick-place-wall-v2"},
{"env_name": "lever-pull-v2"},
{"env_name": "disassemble-v2"},
{"env_name": "button-press-v2"},
# {"env_name": "box-close-v2"}, # Additional environments
# {"env_name": "drawer-open-v2"},
# {"env_name": "stick-push-v2"},
],
}