♻️ crazy refactor

2026-03-11 22:52:01 +01:00
parent 35223b3560
commit 4115447022
34 changed files with 4255 additions and 102 deletions
--- a/configs/env/rotary_cartpole.yaml
+++ b/configs/env/rotary_cartpole.yaml
@@ -1,3 +1,10 @@
 max_steps: 1000
 robot_path: assets/rotary_cartpole
-reward_upright_scale: 1.0
+reward_upright_scale: 1.0
+speed_penalty_scale: 0.1
+
+# ── HPO search ranges ────────────────────────────────────────────────
+hpo:
+  reward_upright_scale: {min: 0.5, max: 5.0}
+  speed_penalty_scale: {min: 0.01, max: 1.0}
+  max_steps: {values: [500, 1000, 2000]}