dynamics_model.py

import torch
import torch.nn as nn

class HumanoidDynamicsModel(nn.Module):
    def __init__(self):
        super().__init__()
        self.net = nn.Sequential(
            nn.Linear(200, 128),
            nn.ReLU(),
            nn.Linear(128, 64)
        )

    def forward(self, x):
        return self.net(x)