Approach refinement

training/train.py

@@ -380,8 +380,8 @@ DEFAULT_CONFIG = {
     "W_COMPLETE": 100.0,
     "W_STEP_COST": 0.02,
     "W_COMPACT": 0.0,
-    "W_WALL_TOUCH": 0.15,
-    "WALL_TOUCH_BUFFER": 0.8,
+    "W_WALL_TOUCH": 0.04,
+    "WALL_TOUCH_BUFFER": 0.3,
     "ALIGN_SHAPE": "standoff",
     "ALIGN_GATED": True,
     "ENTRY_AWARE": False,
@@ -408,11 +408,15 @@ def parse_args():
 def main():
     args = parse_args()
 
-    # Load config
+    # Load config: --config overrides, else auto-load config.json if present
     cfg = dict(DEFAULT_CONFIG)
-    if args.config:
-        with open(args.config) as f:
+    config_path = args.config
+    if config_path is None and os.path.exists("config.json"):
+        config_path = "config.json"
+    if config_path:
+        with open(config_path) as f:
             cfg.update(json.load(f))
+        print(f"Config loaded from {config_path}")
 
     rcfg = {k: v for k, v in cfg.items() if hasattr(HerdingEnv, k)}