⚗️ experimenting training runs

configs/training/ppo_single.yaml

@@ -8,15 +8,17 @@ defaults:
   - _self_
 
 hidden_sizes: [256, 256]
-total_timesteps: 500000
-learning_epochs: 5
-learning_rate: 0.001
-entropy_loss_scale: 0.0001
-log_interval: 1024
+total_timesteps: 1000000
+learning_epochs: 10
+learning_rate: 0.0003
+entropy_loss_scale: 0.01
+rollout_steps: 2048
+mini_batches: 8
+log_interval: 2048
 checkpoint_interval: 10000
 initial_log_std: -0.5
 min_log_std: -4.0
-max_log_std: 0.0
+max_log_std: 2.0
 
 record_video_every: 50000
 

scripts/hpo.py

@@ -5,14 +5,17 @@ search ranges from the Hydra config's `training.hpo` and `env.hpo` blocks,
 and launches SMAC3 Successive Halving optimization.
 
 Usage:
-    python scripts/hpo.py \
-        --env rotary_cartpole \
-        --runner mujoco_single \
-        --training ppo_single \
-        --queue gpu-queue
+    python scripts/hpo.py env=rotary_cartpole runner=mujoco_single training=ppo_single
+
+    # With HPO-specific options:
+    python scripts/hpo.py env=rotary_cartpole runner=mujoco_single training=ppo_single \\
+        --queue gpu-queue --total-trials 100
 
     # Or use an existing base task:
     python scripts/hpo.py --base-task-id <TASK_ID>
+
+    # Dry run (print search space only):
+    python scripts/hpo.py env=rotary_cartpole --dry-run
 """
 
 from __future__ import annotations
@@ -233,9 +236,33 @@ def _create_base_task(
     return task_id
 
 
+def _parse_overrides(argv: list[str]) -> dict[str, str]:
+    """Parse Hydra-style key=value overrides from argv.
+
+    Returns a dict of parsed key-value pairs. Unknown args (--flags)
+    are left in argv for argparse to handle.
+    """
+    overrides = {}
+    remaining = []
+    for arg in argv:
+        if "=" in arg and not arg.startswith("-"):
+            key, value = arg.split("=", 1)
+            overrides[key] = value
+        else:
+            remaining.append(arg)
+    argv.clear()
+    argv.extend(remaining)
+    return overrides
+
+
 def main() -> None:
+    # First pass: extract Hydra-style key=value overrides from sys.argv
+    raw_args = sys.argv[1:]
+    overrides = _parse_overrides(raw_args)
+
     parser = argparse.ArgumentParser(
-        description="Hyperparameter optimization for RL-Framework"
+        description="Hyperparameter optimization for RL-Framework",
+        usage="%(prog)s env=<ENV> runner=<RUNNER> training=<TRAINING> [options]",
     )
     parser.add_argument(
         "--base-task-id",
@@ -243,9 +270,6 @@ def main() -> None:
         default=None,
         help="Existing ClearML task ID to use as base (skip auto-creation)",
     )
-    parser.add_argument("--env", type=str, default="rotary_cartpole")
-    parser.add_argument("--runner", type=str, default="mujoco_single")
-    parser.add_argument("--training", type=str, default="ppo_single")
     parser.add_argument("--queue", type=str, default="gpu-queue")
     parser.add_argument(
         "--max-concurrent", type=int, default=2,
@@ -292,12 +316,17 @@ def main() -> None:
         "--dry-run", action="store_true",
         help="Print search space and exit without running",
     )
-    args = parser.parse_args()
+    args = parser.parse_args(raw_args)
+
+    # Resolve env/runner/training from Hydra-style overrides (same as train.py)
+    env = overrides.get("env", "rotary_cartpole")
+    runner = overrides.get("runner", "mujoco_single")
+    training = overrides.get("training", "ppo_single")
 
     objective_sign = "min" if args.minimize else "max"
 
     # ── Load config and build search space ────────────────────────
-    config = _load_hydra_config(args.env, args.runner, args.training)
+    config = _load_hydra_config(env, runner, training)
     hyper_parameters = _build_hyper_parameters(config)
 
     if not hyper_parameters:
@@ -318,7 +347,7 @@ def main() -> None:
     Task.ignore_requirements("torch")
     task = Task.init(
         project_name="RL-Framework",
-        task_name=f"HPO {args.env}-{args.runner}-{args.training}",
+        task_name=f"HPO {env}-{runner}-{training}",
         task_type=Task.TaskTypes.optimizer,
         reuse_last_task_id=False,
     )
@@ -347,7 +376,7 @@ def main() -> None:
             logger.info("reusing_base_task_from_param", task_id=base_task_id)
         else:
             base_task_id = _create_base_task(
-                args.env, args.runner, args.training, args.queue
+                env, runner, training, args.queue
             )
     task.set_parameter("General/base_task_id", base_task_id)