decrease extreme explorationin training

2026-08-27 21:55:16 +02:00
parent 4cc2d37d94
commit 7b9c52955b
1 changed files with 3 additions and 3 deletions
@@ -87,7 +87,7 @@ def main():
            args.pretrained_model,
            env=vec_env,
            learning_rate=5e-5,  # Lower learning rate so RL fine-tunes without destroying base gait
-            ent_coef=0.001,
+            ent_coef=0.0,
            target_kl=0.05,
            vf_coef=0.5,
            max_grad_norm=0.5,
@@ -107,7 +107,7 @@ def main():
            gamma=0.99,
            gae_lambda=0.95,
            clip_range=0.2,
-            ent_coef=0.001,
+            ent_coef=0.0,
            target_kl=0.05,
            vf_coef=0.5,
            max_grad_norm=0.5,
@@ -115,7 +115,7 @@ def main():
            tensorboard_log=args.log_dir,
            device="cpu",
        )
-
+    model.policy.log_std.data.fill_(-2.0)
    # Setup Callbacks with ppo<number> naming
    checkpoint_callback = CheckpointCallback(
        save_freq=max(1, args.save_freq // args.num_workers),