Agent Configuration

Configure agents with Hydra.

srb agent train --algo sb3_ppo --env peg_in_hole \
    agent.learning_rate=0.0003 \
    agent.batch_size=128

Default Hyperparameters

Use hyperparams/ for defaults. Add optional task overrides in hyperparams/task/.

Modifying Configurations

Edit framework defaults or pass Hydra overrides.

Configuration Files

Defaults are grouped by framework (YAML except Robomimic’s JSON):

hyperparams/
├── sb3/           # Stable Baselines 3 (ppo, sac, td3, ...)
├── sbx/           # SB3 eXtensions
├── skrl/          # SKRL (ppo, a2c, ppo_rnn, ...)
├── rsl_rl/        # RSL RL
├── robomimic/     # Robomimic
├── dreamerv3.yaml # DreamerV3 (single-algorithm framework)
└── tdmpc2.yaml    # TD-MPC2 (single-algorithm framework)

Use framework-prefixed algorithm names (sb3_ppo, sbx_sac, skrl_ppo, rsl_rl_ppo, dreamer, tdmpc2) and pass Hydra overrides on the command line.

Note: For algorithms with a registered agent dictionary, --cfg replaces the whole agent mapping. Include every required setting; omitted registered values are dropped.

SKRL SAC

hyperparams/skrl/sac.yaml pins SRB’s bounded/squashed Gaussian policy, two critics and target critics, plus explicit terminated/truncated replay flags. skrl_sac supports train, eval, and policy collection.

Tuned configurations

srb agent tune writes the requested modality’s config, resolving task-specific → global layers:

• hyperparams/<framework>/<algo>.yaml — global per-algorithm set (state observations); <algo>_visual.yaml for visual observations.
• hyperparams/task/<task>/<framework>/<algo>.yaml — optional per-task override that takes precedence for that task only.

The # Tuned by srb agent tune … provenance header records study, trial, objective, seeds, date, git SHA, and Optuna version. See Hyperparameter Tuning.

Visual profiles (hyperparams/visual_profiles.yaml) do not ship. Optuna tuning spaces are included under srb/tuning/spaces. Without them, train and eval reject --obs visual; use --obs state or supply a valid catalog. tune supports only --obs state.