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configs.json
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{
"cartpole":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [300, 250, 200],
"critic_structure": [300, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/cartpole/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-0.05, 0.05], [-0.1, 0.1], [-0.05, 0.05], [-0.05, 0.05]],
"specification": "always[0,200] (a >= -0.3 and a <= 0.3 and b >= -0.5 and b <= 0.5 and c >= -0.3 and c <= 0.3 and d >= -0.5 and d <= 0.5)",
"slice_spec": ["always[0,200] (a >= -0.3)", "always[0,200] (a <= 0.3)", "always[0,200] (b >= -0.5)", "always[0,200] (b <= 0.5)", "always[0,200] (c >= -0.3)", "always[0,200] (c <= 0.3)", "always[0,200] (d >= -0.5)", "always[0,200] (d <= 0.5)"],
"var_map": {"a": 0, "b": 1, "c": 2, "d": 3},
"spec_lens": 8
},
"pendulum":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/pendulum/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-0.35, 0.35], [-0.35, 0.35]],
"specification": "always[0,200] (a >= -0.5 and a <= 0.5 and b >= -0.5 and b <= 0.5)",
"slice_spec": ["always[0,200] (a >= -0.5)", "always[0,200] (a <= 0.5)", "always[0,200] (b >= -0.5)", "always[0,200] (b <= 0.5)"],
"var_map": {"a": 0, "b": 1},
"spec_lens": 4
},
"satellite":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/satellite/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-1.0, 1.0], [-1.0, 1.0]],
"specification": "always[0,200] (a >= -1.5 and a <= 1.5 and b >= -1.5 and b <= 1.5)",
"slice_spec": ["always[0,200] (a >= -1.5)", "always[0,200] (a <= 1.5)", "always[0,200] (b >= -1.5)", "always[0,200] (b <= 1.5)"],
"var_map": {"a": 0, "b": 1},
"spec_lens": 4
},
"dcmotor":
{
"actor_lr": 0.000001,
"critic_lr": 0.00001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/dcmotor/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-1.0, 1.0], [-1.0, 1.0]],
"specification": "always[0,200] (a >= -1.5 and a <= 1.5 and b >= -1.5 and b <= 1.5)",
"slice_spec": ["always[0,200] (a >= -1.5)", "always[0,200] (a <= 1.5)", "always[0,200] (b >= -1.5)", "always[0,200] (b <= 1.5)"],
"var_map": {"a": 0, "b": 1},
"spec_lens": 4
},
"tape":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/tape/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-1.0, 1.0], [-1.0, 1.0], [-1.0, 1.0]],
"specification": "always[0,200] (a >= -3 and a <= 3 and b >= -3 and b <= 3 and c >= -3 and c <= 3)",
"slice_spec": ["always[0,200] (a >= -3)", "always[0,200] (a <= 3)", "always[0,200] (b >= -3)", "always[0,200] (b <= 3)", "always[0,200] (c >= -3)", "always[0,200] (c <= 3)"],
"var_map": {"a": 0, "b": 1, "c": 2},
"spec_lens": 6
},
"magnetic_pointer":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/magnetic_pointer/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-1.0, 1.0], [-1.0, 1.0], [-1.0, 1.0]],
"specification": "always[0,200] (a >= -3.5 and a <= 3.5 and b >= -3.5 and b <= 3.5 and c >= -3.5 and c <= 3.5)",
"slice_spec": ["always[0,200] (a >= -3.5)", "always[0,200] (a <= 3.5)", "always[0,200] (b >= -3.5)", "always[0,200] (b <= 3.5)", "always[0,200] (c >= -3.5)", "always[0,200] (c <= 3.5)"],
"var_map": {"a": 0, "b": 1, "c": 2},
"spec_lens": 6
},
"suspension":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/suspension/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-1.0, 1.0], [-1.0, 1.0], [-1.0, 1.0], [-1.0, 1.0]],
"specification": "always[0,200] (a >= -3 and a <= 3 and b >= -3 and b <= 3 and c >= -3 and c <= 3 and d >= -3 and d <= 3)",
"slice_spec": ["always[0,200] (a >= -3)", "always[0,200] (a <= 3)", "always[0,200] (b >= -3)", "always[0,200] (b <= 3)", "always[0,200] (c >= -3)", "always[0,200] (c <= 3)", "always[0,200] (d >= -3)", "always[0,200] (d <= 3)"],
"var_map": {"a": 0, "b": 1, "c": 2, "d": 3},
"spec_lens": 8
},
"biology":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/biology/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-2.0, 2.0], [-0.1, 0.1]],
"specification": "always[0,200] (a < 5)",
"slice_spec": ["always[0,200] (a < 5)"],
"var_map": {"a": 0, "b": 1, "c": 2},
"spec_lens": 1
},
"cooling":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/data_center_cooling/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[1.6, 3.2], [1.6, 3.2], [1.6, 3.2]],
"specification": "always[0,200] (a >= -3.2 and a <= 3.2 and b >= -3.2 and b <= 3.2 and c >= -3.2 and c <= 3.2)",
"slice_spec": ["always[0,200] (a >= -3.2)", "always[0,200] (a <= 3.2)", "always[0,200] (b >= -3.2)", "always[0,200] (b <= 3.2)", "always[0,200] (c >= -3.2)", "always[0,200] (c <= 3.2)"],
"var_map": {"a": 0, "b": 1, "c": 2},
"spec_lens": 6
},
"quadcopter":
{
"actor_lr": 0.001,
"critic_lr": 0.01,
"actor_structure": [240, 200],
"critic_structure": [280, 240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/quadcopter/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-0.5, 0.5], [-0.5, 0.5]],
"specification": "always[0,200] (a >= -1.0 and a <= 1.0 and b >= -1.0 and b <= 1.0)",
"slice_spec": ["always[0,200] (a >= -1.0)", "always[0,200] (a <= 1.0)", "always[0,200] (b >= -1.0)", "always[0,200] (b <= 1.0)"],
"var_map": {"a": 0, "b": 1},
"spec_lens": 4
},
"self_driving":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [300, 250, 200],
"critic_structure": [300, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 20,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/self_driving/final_model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-1.0, 1.0], [-0.78539815, 0.78539815]],
"specification": "always[0,200] (a > -2.0 and a < 2.0 and b >= -1.5707963 and b <= 1.5707963)",
"slice_spec": ["always[0,200] (a > -2.0)", "always[0,200] (a < 2.0)", "always[0,200] (b >= -1.5707963)", "always[0,200] (b <= 1.5707963)"],
"var_map": {"a": 0, "b": 1},
"spec_lens": 4
},
"car_platoon_4":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [500, 400, 300],
"critic_structure": [600, 500, 400, 300],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/car_platoon_4/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1]],
"specification": "always[0,200] (a >= -2.0 and a <= 2.0 and b >= -0.5 and b <= 0.5 and c >= -0.35 and c <= 0.35 and d >= -0.5 and d <= 0.5 and e >= -1.0 and e <= 1.0 and f >= -0.5 and f <= 0.5 and g >= -1.0 and g <= 1.0)",
"slice_spec": ["always[0,200] (a >= -2.0)", "always[0,200] (a <= 2.0)", "always[0,200] (b >= -0.5)", "always[0,200] (b <= 0.5)", "always[0,200] (c >= -0.35)", "always[0,200] (c <= 0.35)", "always[0,200] (d >= -0.5)", "always[0,200] (d <= 0.5)", "always[0,200] (e >= -1.0)", "always[0,200] (e <= 1.0)", "always[0,200] (f >= -0.5)", "always[0,200] (f <= 0.5)", "always[0,200] (g >= -1.0)", "always[0,200] (g <= 1.0)"],
"var_map": {"a": 0, "b": 1, "c": 2, "d": 3, "e": 4, "f": 5, "g": 6},
"spec_lens": 14
},
"car_platoon_8":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [400, 300, 200],
"critic_structure": [500, 400, 300, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/car_platoon_8/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1]],
"specification": "always[0,200] (a >= -2.0 and a <= 2.0 and b >= -0.5 and b <= 0.5 and c >= -1.0 and c <= 1.0 and d >= -0.5 and d <= 0.5 and e >= -1.0 and e <= 1.0 and f >= -0.5 and f <= 0.5 and g >= -1.0 and g <= 1.0 and h >= -0.5 and h <= 0.5 and i >= -1.0 and i <= 1.0 and j >= -0.5 and j <= 0.5 and k >= -1.0 and k <= 1.0 and l >= -0.5 and l <= 0.5 and m >= -1.0 and m <= 1.0 and n >= -0.5 and n <= 0.5 and o >= -1.0 and o <= 1.0)",
"slice_spec": ["always[0,200] (a >= -2.0)", "always[0,200] (a <= 2.0)", "always[0,200] (b >= -0.5)", "always[0,200] (b <= 0.5)", "always[0,200] (c >= -1.0)", "always[0,200] (c <= 1.0)", "always[0,200] (d >= -0.5)", "always[0,200] (d <= 0.5)", "always[0,200] (e >= -1.0)", "always[0,200] (e <= 1.0)", "always[0,200] (f >= -0.5)", "always[0,200] (f <= 0.5)", "always[0,200] (g >= -1.0)", "always[0,200] (g <= 1.0)", "always[0,200] (h >= -0.5)", "always[0,200] (h <= 0.5)", "always[0,200] (i >= -1.0)", "always[0,200] (i <= 1.0)", "always[0,200] (j >= -0.5)", "always[0,200] (j <= 0.5)", "always[0,200] (k >= -1.0)", "always[0,200] (k <= 1.0)", "always[0,200] (l >= -0.5)", "always[0,200] (l <= 0.5)", "always[0,200] (m >= -1.0)", "always[0,200] (m <= 1.0)", "always[0,200] (n >= -0.5)", "always[0,200] (n <= 0.5)", "always[0,200] (o >= -1.0)", "always[0,200] (o <= 1.0)"],
"var_map": {"a": 0, "b": 1, "c": 2, "d": 3, "e": 4, "f": 5, "g": 6, "h": 7, "i": 8, "j": 9, "k": 10, "l": 11, "m": 12, "n": 13, "o": 14},
"spec_lens": 30
},
"lane_keeping":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [240, 200],
"critic_structure": [280, 240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/lane_keeping/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1], [-0.1, 0.1]],
"specification": "always[0,200] (a > -0.9 and a < 0.9)",
"slice_spec": ["always[0,200] (a > -0.9)", "always[0,200] (a < 0.9)"],
"var_map": {"a": 0, "b": 1, "c": 2, "d": 3},
"spec_lens": 2
},
"oscillator":
{
"actor_lr": 0.0001,
"critic_lr": 0.001,
"actor_structure": [280, 240, 200],
"critic_structure": [240, 200],
"buffer_size": 1000000,
"gamma": 0.99,
"max_episode_len": 100,
"max_episodes": 1000,
"minibatch_size": 64,
"random_seed": 6553,
"tau": 0.005,
"model_path": "./checkpoints/oscillator/model.chkp",
"test_episodes_len": 5000,
"initial_conditions": [[0.2, 0.3], [-0.1, 0.1]],
"specification": "always[0,200] (a < 0.05)",
"slice_spec": ["always[0,200] (a < 0.05)"],
"var_map": {"r": 0, "b": 1, "c": 2, "d": 3, "e": 4, "f": 5, "g": 6, "h": 7, "i": 8, "j": 9, "k": 10, "l": 11, "m": 12, "n": 13, "o": 14, "p": 15, "q": 16, "a": 17},
"spec_lens": 1
}
}