✨ add rotary cartpole env

2026-03-08 22:58:32 +01:00
parent c8f28ffbcc
commit c753c369b4
15 changed files with 464 additions and 171 deletions
--- a/configs/env/rotary_cartpole.yaml
+++ b/configs/env/rotary_cartpole.yaml
@@ -0,0 +1,7 @@
+max_steps: 1000
+model_path: assets/rotary_cartpole/rotary_cartpole.urdf
+reward_upright_scale: 1.0
+actuators:
+  - joint: motor_joint
+    gear: 15.0
+    ctrl_range: [-1.0, 1.0]
--- a/configs/runner/mujoco.yaml
+++ b/configs/runner/mujoco.yaml
@@ -1,4 +1,5 @@
-num_envs: 16
+num_envs: 64
 device: cpu
-dt: 0.02
-substeps: 2
+dt: 0.002
+substeps: 20
+action_ema_alpha: 0.2  # motor smoothing (τ ≈ 179ms, ~5 steps to reverse)
--- a/configs/training/ppo.yaml
+++ b/configs/training/ppo.yaml
@@ -1,5 +1,5 @@
 hidden_sizes: [128, 128]
-total_timesteps: 1000000
+total_timesteps: 5000000
 rollout_steps: 1024
 learning_epochs: 4
 mini_batches: 4
@@ -8,6 +8,8 @@ gae_lambda: 0.95
 learning_rate: 0.0003
 clip_ratio: 0.2
 value_loss_scale: 0.5
-entropy_loss_scale: 0.01
+entropy_loss_scale: 0.05
 log_interval: 10
-clearml_project: RL-Framework
+
+# ClearML remote execution (GPU worker)
+remote: false