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3.zip

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config.yml

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+general:
+  name: "muscle_model"
+
+environment:
+  model: "./model/mujoco_model_muscle.xml"
+  kinematics: "./data/reachset_1/adjusted_kinematics_1.csv"
+  w_bone_diff: 1.0
+  w_effort: 0.0
+  w_elbow: 1.0
+  w_paw: 1.0
+  control_dt: 0.006666666
+  n_substeps: 16
+
+policy:
+  lstm_hidden_size: 32
+  n_lstm_layers: 1
+  net_arch_pi: [16, 8]
+  net_arch_vf: [16, 8]
+
+algorithm:
+  learning_rate: 0.001
+
+  n_steps: 256
+  batch_size: 256
+  n_epochs: 20
+
+  gamma: 0.99
+  gae_lambda: 0.95
+
+  clip_range: 0.2
+  clip_range_vf: 0.2
+
+  ent_coef: 0.0
+  vf_coef: 0.5
+
+  max_grad_norm: 0.5
+
+training:
+  timesteps: 1_000_000
+  num_envs: 16
+
+testing:
+  slowmo: 0.1

ppo_logs/muscle_model_0/events.out.tfevents.1775755955.d-B650-GAMING-X-AX-V2.48228.0

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ppo_logs/muscle_model_0/events.out.tfevents.1775758917.d-B650-GAMING-X-AX-V2.68379.0

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ppo_logs/muscle_model_0/events.out.tfevents.1775762020.d-B650-GAMING-X-AX-V2.93381.0

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