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Add camera to record grpo training #156

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Merged
yangchen73 merged 11 commits into from
Mar 2, 2026
Merged

Add camera to record grpo training #156

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5ca8b2d
Feat: realize standard grpo algorithm
yangchen73 Feb 23, 2026
3d74c7c
Feat: add actor_only policy network for grpo
yangchen73 Feb 23, 2026
c21e8b0
Fix: add grpo in init
yangchen73 Feb 23, 2026
1043928
Feat: add train config for cartpole using grpo
yangchen73 Feb 23, 2026
5c23554
Modify docs
yangchen73 Feb 23, 2026
f9a331c
Modify grpo algorithm to fit cartpole
yangchen73 Feb 23, 2026
eafb0c4
Merge branch 'main' into yc/grpo
yangchen73 Feb 23, 2026
563e69d
reformate files
yangchen73 Feb 23, 2026
b07c6c3
Merge main into yc/grpo
yangchen73 Mar 2, 2026
413dcd4
Add camera to record
yangchen73 Mar 2, 2026
d3e3b89
Merge main into yc/grpo
yangchen73 Mar 2, 2026
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24 changes: 21 additions & 3 deletions configs/agents/rl/basic/cart_pole/train_config_grpo.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
"exp_name": "cart_pole_grpo",
"gym_config": "configs/agents/rl/basic/cart_pole/gym_config.json",
"seed": 42,
"device": "cpu",
"device": "cuda:0",
"headless": true,
"enable_rt": false,
"gpu_id": 0,
Expand All @@ -14,7 +14,25 @@
"save_freq": 200,
"use_wandb": true,
"enable_eval": true,
"wandb_project_name": "embodychain-cart_pole"
"wandb_project_name": "embodychain-cart_pole",
"events": {
"eval": {
"record_camera": {
"func": "record_camera_data_async",
"mode": "interval",
"interval_step": 1,
"params": {
"name": "main_cam",
"resolution": [640, 480],
"eye": [-1.4, 1.4, 2.5],
"target": [0, 0, 0.7],
"up": [0, 0, 1],
"intrinsics": [600, 600, 320, 240],
"save_path": "./outputs/videos/eval"
}
}
}
}
},
"policy": {
"name": "actor_only",
Expand All @@ -34,7 +52,7 @@
"batch_size": 8192,
"gamma": 0.99,
"clip_coef": 0.2,
"ent_coef": 0.001,
"ent_coef": 0.01,
"kl_coef": 0.0,
"group_size": 4,
"eps": 1e-8,
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