config.json

{
  "env": {
    "name": "tensoraerospace.envs.b747.LinearLongitudinalB747",
    "params": {}
  },
  "policy": {
    "name": "tensoraerospace.agent.mpc.mpc.MPCAgent",
    "params": {
      "state_dim": 4,
      "action_dim": 1,
      "horizon": 20,
      "weights": {
        "Q_diag": [
          0.0,
          0.0,
          0.20000000298023224,
          2000.0
        ],
        "R_diag": [
          0.009999999776482582
        ],
        "S_diag": [
          5.0
        ],
        "terminal_weight": 10.0
      },
      "constraints": {
        "u_min": [
          -0.4363323152065277
        ],
        "u_max": [
          0.4363323152065277
        ],
        "du_min": [
          -0.1745329201221466
        ],
        "du_max": [
          0.1745329201221466
        ]
      },
      "tracking_type": "step_response",
      "tracking_config": {
        "w_du": 0.0,
        "w_jerk": 0.0
      },
      "step_response_config": {
        "tracked_idx": 3,
        "rate_idx": 2,
        "dt": 0.1,
        "ref_change_threshold": 0.0017453292519943296,
        "min_step_amp": 0.008726646259971648,
        "overshoot_limit": 0.0008726646259971648,
        "settle_band": 0.0017453292519943296,
        "settle_band_min": 0.0008726646259971648,
        "settle_band_ratio": 0.01,
        "settle_time_target_s": 1.0,
        "rate_settle": 0.004363323129985824,
        "w_overshoot": 8000.0,
        "w_time": 800.0,
        "w_settle": 8000.0,
        "w_sse_steady": 40000.0,
        "w_osc": 500.0,
        "w_jerk": 50.0,
        "w_du_steady": 80.0,
        "w_jerk_steady": 800.0
      },
      "iters": 60,
      "mpc_lr": 0.02,
      "mpc_optimizer": "adam",
      "warm_start": true,
      "mpc_track_best": true,
      "mpc_best_check_every": 5,
      "mpc_compile_dynamics": true,
      "mpc_compile_mode": "reduce-overhead",
      "model_predict_delta": true,
      "hidden_layers": [
        256,
        256
      ],
      "activation": "relu",
      "normalize": true,
      "dynamics_lr": 0.0001,
      "weight_decay": 0.0,
      "grad_clip_norm": 1.0,
      "memory_capacity": 299500,
      "device": "cuda",
      "dtype": "torch.float32",
      "seed": 0,
      "model_class": "tensoraerospace.agent.mpc.mpc.OneStepMLP"
    }
  }
}