Initial commit

scripts/run_train_v4_50k.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+# S10 terrain-v4 50k training from scratch (16 GB recipe).
+# Override S10_OUTPUT for a fixed output directory.
+set -euo pipefail
+
+PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$PROJECT_DIR"
+
+export PYTHONPATH="$PROJECT_DIR"
+export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
+export MUJOCO_GL="${MUJOCO_GL:-egl}"
+
+PY="${S10_PYTHON:-python}"
+OUT="${S10_OUTPUT:-logs/s10_terrain_v4_50k_$(date +%Y%m%d_%H%M%S)}"
+mkdir -p "$OUT"
+
+exec "$PY" scripts/train.py \
+  --task s10-v4 \
+  --terrain --terrain-revision 4 --seed 0 \
+  --num-envs 4096 --num-steps-per-env 1 \
+  --buffer-len 512 --wm-window 8 \
+  --wm-batch 2048 --wm-updates 4 \
+  --imag-batch 2048 --horizon 32 \
+  --warmup 50 --critic-epochs 5 --critic-minibatches 4 \
+  --iterations 50000 --save-interval 500 --log-interval 10 \
+  --command-curriculum --command-curriculum-start 0 \
+  --prioritized-replay \
+  --video --video-length 500 --video-interval 2700 \
+  --output "$OUT"