| 15 | ## load config |
| 16 | @dataclass |
| 17 | class Args: |
| 18 | # exp |
| 19 | seed: int = 0 |
| 20 | disable_recommended_params: bool = False |
| 21 | update_method: str = "mppi" # mppi, cma-es, cem |
| 22 | # env |
| 23 | env_name: str = ( |
| 24 | "ant" # "humanoidstandup", "ant", "halfcheetah", "hopper", "walker2d" |
| 25 | ) |
| 26 | # diffusion |
| 27 | Nsample: int = 2048 # number of samples |
| 28 | Hsample: int = 50 # horizon |
| 29 | Nrefine: int = 100 # number of repeat steps |
| 30 | temp_sample: float = 0.1 # temperature for sampling |
| 31 | |
| 32 | |
| 33 | @jax.jit |
nothing calls this directly
no outgoing calls
no test coverage detected