2026SEL3-project-Brittle_Star_Controller_Modularity/docs/README.md

Documentation

Design & architecture (/design)

• Actor/critic architecture: Description of the actor-critic pipeline.
• Communication: Message propagation, Nerve-Net style.
• Controllers: Macroscopig brain toplogy, centralized, arm-level, segment-level.
• Input/output: Description of the model's input and output.
• Learning algorithm: RL techniques, i.e. PPO.
• Reward function: Goals, fitness tracking, and reward structures.

API reference (/api)

• Environment: MuJoCo environment interaction, state retrieval, and configuration.
• Simulate: Simulation rendering.