tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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Merge branch 'dev' into feat/modular-configurations

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This commit is contained in:
Tibo De Peuter 2026-04-16 10:16:28 +02:00
commit a8298702c8
Signed by: tdpeuter
SSH key fingerprint: SHA256:u/h/LVoqKF1Iz02uOyxe6hcjmoZASCGV2HM0TG9ZMoU
8 changed files with 278 additions and 29 deletions
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4
configs/architecture/centralized.yaml
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@ -6,7 +6,7 @@
name: "centralized"
sensor:
hidden_dims: [64, 64]
hidden_dims: [300, 300, 300]
activation: "tanh"
motor:
@ -14,7 +14,7 @@ motor:
activation: "tanh"
feature_extractor:
hidden_dims: [64, 64]
hidden_dims: [300, 300, 300]
activation: "tanh"
critic:

6
configs/architecture/decentralized.yaml
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@ -6,11 +6,11 @@
name: "decentralized"
sensor:
hidden_dims: [64, 64]
hidden_dims: [300, 300, 300]
activation: "tanh"
propagator:
hidden_dims: [64, 64]
hidden_dims: [300, 300, 300]
activation: "tanh"
motor:
@ -18,7 +18,7 @@ motor:
activation: "tanh"
feature_extractor:
hidden_dims: [64, 64]
hidden_dims: [300, 300, 300]
activation: "tanh"
critic:

16
configs/ppo/debug.yaml Normal file
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@ -0,0 +1,16 @@
learning_rate: 0.0003
total_timesteps: 409600
num_envs: 32
num_steps: 32
anneal_lr: true
gamma: 0.99
gae_lambda: 0.95
num_minibatches: 32
update_epochs: 4
norm_adv: true
clip_coef: 0.2
clip_vloss: true
ent_coef: 0.005
vf_coef: 1.0
max_grad_norm: 0.5
target_kl: null