config.yml

load_offline_data: False    # offline pre-training and data loading
pre_train: False            # pre train using offline data before start online training
dataset_path: null          # Path to the datasets, null means it will be overridden by the command line if needed
work_dir: null              # Path to run the model from (default: None)
task: AssettoCorsaEnv
seed: 0

# wandb
disable_wandb: True
wandb_entity: null  # user
wandb_project: sac
wandb_silent: False
exp_name: null
task_title: null
save_csv: True
save_video: False
save_agent: False
action_dim: null  # placeholder
steps: null # placeholder

Agent:
  num_steps: 10_000_000
  batch_size: 128
  memory_size: 10_000_000
  offline_buffer_size: 12_000_000
  use_offline_buffer: False # offline dual buffer
  update_interval: 1
  start_steps: 2000
  log_interval: 10
  eval_interval: 0
  num_eval_episodes: 1
  checkpoint_freq: 200_000

SAC:
  gamma: 0.992
  nstep: 3
  policy_lr: 0.0003
  q_lr: 0.0003
  entropy_lr: 0.0003
  policy_hidden_units: [256, 256, 256]
  q_hidden_units: [256, 256, 256]
  target_update_coef: 0.005
  log_interval: 10

DisCor:
  error_lr: 0.0003
  error_hidden_units: [256, 256, 256, 256]
  tau_init: 10.0

AssettoCorsa:
  ego_sampling_freq: 25     # in Hz
  max_episode_py_time: 600. # in seconds
  train_steps: 10_000_000
  gap_const: 12.
  eval_number_of_laps: 4    # including out lap which is incomplete
  save_lap_csv: False
  remote_machine_ip: "localhost"   # "192.168.0.1" # "localhost"
  ego_server_port: 2345
  opponents_server_port: 2346
  simulation_management_server_port: 2347
  use_relative_actions: True
  enable_sensors: True
  vjoy_executed_by_server: False
  enable_out_of_track_termination: True
  enable_low_speed_termination: True
  recover_car_on_done: False
  send_reset_at_start: True
  record_controls_from_client: False
  enable_out_of_track_penalty: False
  max_laps_number: null
  enable_task_id_in_obs: False
  penalize_actions_diff: False
  penalize_actions_diff_coef: 0.1
  track: "ks_barcelona-layout_gp"  # monza ks_barcelona-layout_gp ks_red_bull_ring-layout_gp, indianapolis_sp, ks_silverstone-gp
  car: "dallara_f317"              # dallara_f317, ks_mazda_miata, bmw_z4_gt3
  use_ac_out_of_track: True
  add_previous_obs_to_state: True
  use_reference_line_in_reward: True
  use_target_speed: False