Mimic webots physics

2026-04-26 18:22:26 +01:00
parent 8110fc3143
commit 1af7d03ce2
11 changed files with 6091 additions and 24 deletions
@@ -0,0 +1,5 @@
+Config loaded from config.json
+Config: {'W_PER_SHEEP': 2.0, 'W_ALIGN': 0.05, 'W_PEN_BONUS': 10.0, 'W_COMPLETE': 100.0, 'W_STEP_COST': 0.02, 'W_SOUTH': 0.01, 'W_COMPACT': 0.0, 'W_WALL_TOUCH': 0.0, 'WALL_TOUCH_BUFFER': 0.4, 'ALIGN_SHAPE': 'standoff', 'ALIGN_GATED': True, 'ENTRY_AWARE': True, 'ent_coef': 0.02}
+Run dir: runs/wheeled_n10
+Curriculum: 1 → 10 sheep, 1,500,000 steps/stage
+
@@ -0,0 +1,15 @@
+{
+  "W_PER_SHEEP": 2.0,
+  "W_ALIGN": 0.05,
+  "W_PEN_BONUS": 10.0,
+  "W_COMPLETE": 100.0,
+  "W_STEP_COST": 0.02,
+  "W_SOUTH": 0.01,
+  "W_COMPACT": 0.0,
+  "W_WALL_TOUCH": 0.0,
+  "WALL_TOUCH_BUFFER": 0.4,
+  "ALIGN_SHAPE": "standoff",
+  "ALIGN_GATED": true,
+  "ENTRY_AWARE": true,
+  "ent_coef": 0.02
+}