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config.json

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+{
+  "env": {
+    "name": "tensoraerospace.envs.b747_vec_torch.ImprovedB747VecEnvTorch",
+    "params": {
+      "num_envs": 128,
+      "dt": 0.1,
+      "tn": 20.0,
+      "initial_state": [
+        0.0,
+        0.0,
+        0.0,
+        0.0
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+      "device": "mps",
+      "seed": 0,
+      "auto_reset": true,
+      "include_reference_in_obs": true,
+      "step_randomization": {
+        "signal_type": "step",
+        "amplitude_deg_range": [
+          -5.0,
+          5.0
+        ],
+        "min_abs_amplitude_deg": 0.1,
+        "step_time_sec_range": [
+          1,
+          15
+        ],
+        "frequency_hz_range": [
+          0.02,
+          0.1
+        ],
+        "p_step": 0.5,
+        "p_sine": 0.3,
+        "ref_change_threshold_rad": 0.0017453292519943296,
+        "min_step_amp_rad": 0.008726646259971648
+      },
+      "reward_mode": "tracking",
+      "survival_bonus": 0.0,
+      "completion_bonus": 0.0,
+      "early_termination_penalty": 0.0,
+      "early_termination_penalty_per_step": 0.0
+    }
+  },
+  "policy": {
+    "name": "tensoraerospace.agent.dsac.dsac_flight.DSAC",
+    "params": {
+      "gamma": 0.995,
+      "tau": 0.005,
+      "alpha": 0.03246142342686653,
+      "updates_per_step": 4,
+      "target_update_interval": 1,
+      "batch_size": 256,
+      "automatic_entropy_tuning": true,
+      "target_entropy_scale": 1.0,
+      "min_alpha": 0.0,
+      "exploration_noise_std": 0.0,
+      "reward_clip": 20.0,
+      "num_quantiles": 8,
+      "num_quantiles_exp": 8,
+      "embedding_dim": 64,
+      "hidden_layers": [
+        64,
+        64
+      ],
+      "huber_threshold": 1.0,
+      "learning_starts": 100000,
+      "warmup_action_scale": 1.0,
+      "caps_lambda_smoothness": 0.0,
+      "caps_lambda_temporal": 0.0,
+      "caps_noise_std": 0.05,
+      "risk_distortion": "neutral",
+      "risk_measure": 1.0,
+      "device": "mps",
+      "lr": 0.00044,
+      "policy_lr": 0.00044,
+      "log_every_updates": 200,
+      "seed": 0,
+      "log_dir": "runs/dsac_b747_step_response_20260106_021709"
+    }
+  }
+}

critic.pth

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critic_target.pth

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log_alpha.pth

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policy.pth

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