✨ 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/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)