| general: | |
| name: "torque_model_21" | |
| environment: | |
| model: "./models/mujoco_model_torque.xml" | |
| kinematics: "./data/reachset_1/adjusted_kinematics_1.csv" | |
| w_bone_diff: 100.0 | |
| w_elbow: 1.0 | |
| w_paw: 1.0 | |
| w_effort: 0.0 | |
| w_jitter: 0.0 | |
| w_action: 0.0005375 | |
| 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: 0.0001 | |
| 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: 3_000_000 | |
| num_envs: 16 | |
| testing: | |
| slowmo: 0.1 |