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Add Rccar sim-to-sim transfer experiments #258

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Merged
yardenas merged 3 commits into from
Jan 20, 2026
Merged

Add Rccar sim-to-sim transfer experiments #258

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b663ede
Add rccar transfer
yardenas Jan 19, 2026
3200e7f
Update policy
yardenas Jan 19, 2026
7dea018
Add penalizer
yardenas Jan 19, 2026
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20 changes: 20 additions & 0 deletions ss2r/configs/experiment/rccar_transfer.yaml
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# @package _global_
defaults:
- rccar_hardware
- override /agent/data_collection: episodic
- override /agent/penalizer: lagrangian
- _self_

training:
num_timesteps: 25000
wandb_id: 7qm6mozf

agent:
batch_size: 256
min_replay_size: 1000
max_replay_size: 1048576
policy_hidden_layer_sizes: [64, 64]
grad_updates_per_step: 2500
learning_rate: 1e-5
critic_learning_rate: 3e-4
num_critic_updates_per_actor_update: 10