config.yaml

TRAIN:
  NUM_EPOCHS: 300
  BATCH_SIZE: 256
  LR: 0.0002
  VAL_INTERVAL: 10
  EXP_NAME: "train_active_large_v2"
  GRAD_LOSS_WEIGHT: 0.1
  TD_LOSS_WEIGHT: 1.0
  DT: 0.01

MODEL:
  TYPE: "ResidualMLP"
  IN_DIM: 126             # 21 joints × 6 values each
  HIDDEN_DIM: 512
  NUM_LAYERS: 12
  ACTIVATION: "relu"