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✨ add mjx runner

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Victor Mylle
2026-03-09 21:18:19 +01:00
parent 15da0ef2fd
commit 26ccb1e902
8 changed files with 301 additions and 14 deletions
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5
configs/runner/mjx.yaml Normal file
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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

2
configs/runner/mujoco.yaml
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@@ -1,5 +1,5 @@
num_envs: 64
device: cpu
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)