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config.json

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+{
+  "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"
+    }
+  }
+}

dynamics_model.pth

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+size 276393

dynamics_optim.pth

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normalizers.npz

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