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