VictorMylle/RL-Sim-Framework
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✨ clean up lot of stuff

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Victor Mylle
2026-03-22 15:49:13 +01:00
parent d3ed1c25ad
commit ca0e7b8b03
37 changed files with 3613 additions and 1223 deletions
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configs/env/rotary_cartpole.yaml vendored
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@@ -1,10 +1,19 @@
max_steps: 1000
robot_path: assets/rotary_cartpole
reward_upright_scale: 1.0
speed_penalty_scale: 0.1
# ── Regularisation penalties (prevent fast spinning) ─────────────────
motor_vel_penalty: 0.01 # penalise high motor angular velocity
motor_angle_penalty: 0.05 # penalise deviation from centre
action_penalty: 0.05 # penalise large actions (energy cost)
# ── Software safety limit (env-level, always applied) ────────────────
motor_angle_limit_deg: 90.0 # terminate episode if motor exceeds ±90°
# ── HPO search ranges ────────────────────────────────────────────────
hpo:
reward_upright_scale: {min: 0.5, max: 5.0}
speed_penalty_scale: {min: 0.01, max: 1.0}
motor_vel_penalty: {min: 0.001, max: 0.1}
motor_angle_penalty: {min: 0.01, max: 0.2}
action_penalty: {min: 0.01, max: 0.2}
max_steps: {values: [500, 1000, 2000]}