config.json

{
  "model_type": "ppo",
  "framework": "pytorch",
  "hidden_layers": 3,
  "hidden_size": 256,
  "activation": "relu",
  "action_space": "continuous",
  "observation_space": [
    "joint_positions",
    "joint_velocities",
    "imu_orientation",
    "ground_contact"
  ]
}