Add namedconfigs for all seals envs and set the number of timesteps i…

…n namedconfig for SQIL.

src/imitation/scripts/config/train_imitation.py

@@ -45,6 +45,13 @@ def seals_mountain_car():
  environment = dict(gym_id="seals/MountainCar-v0")
  bc = dict(l2_weight=0.0)
  dagger = dict(total_timesteps=20000)
+ sqil = dict(total_timesteps=1e5)
+
+
+@train_imitation_ex.named_config
+def seals_ant():
+ environment = dict(gym_id="seals/Ant-v1")
+ sqil = dict(total_timesteps=2e6)
 
 
 @train_imitation_ex.named_config
@@ -57,11 +64,13 @@ def cartpole():
 def seals_cartpole():
  environment = dict(gym_id="seals/CartPole-v0")
  dagger = dict(total_timesteps=20000)
+ sqil = dict(total_timesteps=1e5)
 
 
 @train_imitation_ex.named_config
 def pendulum():
  environment = dict(gym_id="Pendulum-v1")
+ sqil = dict(total_timesteps=1e5)
 
 
 @train_imitation_ex.named_config
@@ -76,14 +85,33 @@ def half_cheetah():
  dagger = dict(total_timesteps=60000)
 
 
+@train_imitation_ex.named_config
+def seals_half_cheetah():
+ environment = dict(gym_id="seals/HalfCheetah-v1")
+ sqil = dict(total_timesteps=2e6)
+
+
+@train_imitation_ex.named_config
+def seals_hopper():
+ environment = dict(gym_id="seals/Hopper-v1")
+ sqil = dict(total_timesteps=2e6)
+
+
+@train_imitation_ex.named_config
+def seals_walker():
+ environment = dict(gym_id="seals/Walker2d-v1")
+ sqil = dict(total_timesteps=2e6)
+
+
 @train_imitation_ex.named_config
 def humanoid():
  environment = dict(gym_id="Humanoid-v2")
 
 
 @train_imitation_ex.named_config
 def seals_humanoid():
- environment = dict(gym_id="seals/Humanoid-v0")
+ environment = dict(gym_id="seals/Humanoid-v1")
+ sqil = dict(total_timesteps=2e6)
 
 
 @train_imitation_ex.named_config

tuning/hp_search_spaces.py

@@ -132,9 +132,6 @@ def __call__(
  "n_expert_demos": 100,
  "source": "generated",
  },
- "sqil": {
- "total_timesteps": 1e6,
- },
  "rl": {
  "rl_kwargs": {
  "learning_rate": trial.suggest_float("learning_rate", 1e-6, 1e-2, log=True),