♻️ full agent refactor

2026-06-10 21:15:34 +02:00
parent a98e86ef66
commit 1e0836e1bc
49 changed files with 1309 additions and 829 deletions
--- a/configs/runner/mujoco.yaml
+++ b/configs/runner/mujoco.yaml
@@ -2,9 +2,7 @@ num_envs: 64
 device: auto  # auto = cuda if available, else cpu
 dt: 0.002
 substeps: 10
-history_length: 10   # must match training.history_length (DR + embedding)
-
-rma_mode: "none"     # "none" | "teacher" | "deploy"
+history_length: 10   # (obs, action) window for implicit adaptation

 # ── Domain randomization (sim-to-real) ──────────────────────────────
 # Noise/delay levels anchored to the real recordings (~50 Hz, ~0.5 rad/s