21 lines
1.1 KiB
Markdown
21 lines
1.1 KiB
Markdown
# Documentation
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## Design & architecture ([`/design`](./design/))
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If you are interested in the "why did you do it like this?"
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- [Actor/critic architecture](./design/actor-critic.md): Description of the actor-critic pipeline.
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- [Communication](./design/communication.md): Message propagation, Nerve-Net style.
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- [Controllers](./design/controllers.md): Macroscopig brain toplogy, centralized, arm-level, segment-level.
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- [Input/output](./design/input_action_spaces.md): Description of the model's input and output.
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- [Learning algorithm](./design/learning_algorithm.md): RL techniques, i.e. PPO.
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- [Reward function](./design/learning_algorithm.md): Goals, fitness tracking, and reward structures.
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## API reference ([`/api`](./api/))
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If you are interested in the "how do I use it?"
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- [Training](./api/training.md): How to configure and run experiments.
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- [Tracking & Monitoring](./api/tracking.md): Setting up WandB and TensorBoard to monitor runs.
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- [Simulation](./api/simulation.md): Visualizing and evaluating models.
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- [Environment](./api/environment.md): MuJoCo environment interaction and configuration.
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