✨ remove custom ema and use mujoco motor control

2026-03-09 22:47:57 +01:00
parent 9813319275
commit 0f13086fee
7 changed files with 45 additions and 43 deletions
--- a/configs/runner/mjx.yaml
+++ b/configs/runner/mjx.yaml
@@ -2,4 +2,3 @@ num_envs: 1024       # MJX shines with many parallel envs
 device: auto         # auto = cuda if available, else cpu
 dt: 0.002
 substeps: 20
-action_ema_alpha: 0.2
--- a/configs/runner/mujoco.yaml
+++ b/configs/runner/mujoco.yaml
@@ -2,4 +2,3 @@ num_envs: 64
 device: auto  # auto = cuda if available, else cpu
 dt: 0.002
 substeps: 20
-action_ema_alpha: 0.2  # motor smoothing (τ ≈ 179ms, ~5 steps to reverse)