Upload training result Forge (gr00t/peg_insert)

nn/Forge.pth

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nn/last_Forge_ep_100_rew_73.27014.pth

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nn/last_Forge_ep_200_rew_96.75443.pth

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nn/last_Forge_ep_200_rew__96.75443_.pth

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params/env.yaml

@@ -355,11 +355,12 @@ task:
   engage_threshold: 0.9
   duration_s: 10.0
   action_penalty_asset_scale: 0.001
-  contact_penalty_scale: 0.01
+  contact_penalty_scale: 0.0003
   delay_until_ratio: 0.25
   contact_penalty_threshold_range:
   - 5.0
   - 10.0
+  force_shaping_lambda: 0.01
   fixed_asset:
     class_type: isaaclab.assets.articulation.articulation:Articulation
     prim_path: /World/envs/env_.*/FixedAsset

summaries/events.out.tfevents.1769581864.aigpu0411

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