| 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" | |