Deployed 6a66208 with MkDocs version: 1.6.1

configs/centralized-final.yaml

@@ -23,7 +23,7 @@ morphology:
   morph_mode: CENTRALIZED
 
 experiment:
-  exp_name: "final-models/centralized/"
+  exp_name: "final-models-v2/centralized/"
   seed: 42
   torch_deterministic: true
   cuda: true
@@ -34,8 +34,8 @@ logging:
   save_checkpoints: true
   upload_final_model: true
   upload_checkpoints: true
-  checkpoint_frequency: 20
-  wandb_project_name: "final-models"
+  checkpoint_frequency: 10
+  wandb_project_name: "final-models-v2"
 
 evaluation:
   evaluate_checkpoints: true

configs/evaluation/poster.yaml

@@ -9,12 +9,14 @@ eval_seed: 0
 # Cross-model comparison settings
 # We use 10 episodes to get a more robust average for the final poster results.
 comparison_base_seed: 0
-comparison_num_episodes: 2
+comparison_num_episodes: 10
 comparison_output_csv: "runs/evaluation/comparison.csv"
 
 # Paths to the .cleanrl_model files to be compared (relative to workspace root).
 comparison_models:
-  - "runs/input-space-2-arms/2026-05-02/08-14-58/final_model.flax"
+  - "runs/final-v2-centralized/artifacts/12-19-01_checkpoint_v22/checkpoint_step_230.flax"
+  - "runs/final-v2-fully-conn/artifacts/14-02-00_checkpoint_v17/checkpoint_step_180.flax"
+  - "runs/final-v2-ring/artifacts/15-27-03_checkpoint_v21/checkpoint_step_220.flax"
 
 # Path to the morphologies to evaluate against.
 comparison_morphologies:

configs/fully-connected-final.yaml

@@ -26,7 +26,7 @@ morphology:
   morph_mode: FULLY_CONNECTED
 
 experiment:
-  exp_name: "final-models/fully-connected/"
+  exp_name: "final-models-v2/fully-connected/"
   seed: 42
   torch_deterministic: true
   cuda: true
@@ -37,8 +37,8 @@ logging:
   save_checkpoints: true
   upload_final_model: true
   upload_checkpoints: true
-  checkpoint_frequency: 20
-  wandb_project_name: "final-models"
+  checkpoint_frequency: 10
+  wandb_project_name: "final-models-v2"
 
 evaluation:
   evaluate_checkpoints: true

configs/ring-final.yaml

@@ -26,7 +26,7 @@ morphology:
   morph_mode: RING
 
 experiment:
-  exp_name: "final-models/ring/"
+  exp_name: "final-models-v2/ring/"
   seed: 42
   torch_deterministic: true
   cuda: true
@@ -37,8 +37,8 @@ logging:
   save_checkpoints: true
   upload_final_model: true
   upload_checkpoints: true
-  checkpoint_frequency: 20
-  wandb_project_name: "final-models"
+  checkpoint_frequency: 10
+  wandb_project_name: "final-models-v2"
 
 evaluation:
   evaluate_checkpoints: true

configs/simulation/default.yaml

@@ -21,6 +21,10 @@ video_output_path: null
 # Camera ID to use for video recording (1 is usually the close-up camera)
 camera_id: 1
 
+video_width: 640
+video_height: 80
+video_fps: 60
+
 # Optional override for the metadata YAML file path.
 # If null, the script looks for `<model_name>_metadata.yaml` alongside the model_path.
 metadata_path: null