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0.zip → 1.zip

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ffd3bac317a5ff6bafa99c6628cd045a511888529980d46d471134c269539815
-size 7075664
+oid sha256:b2b2ea3eb356290024f5301739d1343b6a1e8b8fe73885b210c7611270dbab9a
+size 7075996

config.yml

@@ -1,13 +1,15 @@
 general:
-  name: "torque_model"
+  name: "torque_model_21"
 
 environment:
   model: "./model/mujoco_model_torque.xml"
   kinematics: "./data/reachset_1/adjusted_kinematics_1.csv"
-  w_bone_diff: 1.0
-  w_effort: 0.0
+  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
 
@@ -18,7 +20,7 @@ policy:
   net_arch_vf: [16, 8]
 
 algorithm:
-  learning_rate: 0.001
+  learning_rate: 0.0001
 
   n_steps: 256
   batch_size: 256
@@ -36,7 +38,7 @@ algorithm:
   max_grad_norm: 0.5
 
 training:
-  timesteps: 1_000_000
+  timesteps: 3_000_000
   num_envs: 16
 
 testing:

ppo_logs/{torque_model_0/events.out.tfevents.1775753059.d-B650-GAMING-X-AX-V2.28256.0 → torque_model_21_0/events.out.tfevents.1776197460.d-B650-GAMING-X-AX-V2.97423.0}

@@ -1,3 +1,3 @@
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-size 194691
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+size 586735

ppo_logs/torque_model_21_0/events.out.tfevents.1776206239.d-B650-GAMING-X-AX-V2.164290.0

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