config_3dof.json

{ "dt": 0.01,
  "agent":
    {"cyclic_lon":
      {"action_scaling": 15,
      "gamma": 0.6,
      "lr_actor": 0.4,
      "lr_critic": 0.3,
      "n_hidden": 8,
      "weights_stddev": 0.4,
      "use_nesterov_momentum": 0,
      "momentum": 0.0,
      "reward_weight": 100,
      "tracked_state": 4,
      "actor_critic_states": [5] },
    "collective":
      {"action_scaling": 5,
      "gamma": 0.6,
      "lr_actor": 0.1,
      "lr_critic": 0.1,
      "n_hidden": 8,
      "weights_stddev": 0.1,
      "use_nesterov_momentum": 0,
      "momentum": 0.0,
      "reward_weight": 0.05,
      "tracked_state": 1,
      "actor_critic_states": [3] }
    },
  "training":
    {"stop_training_time": 120,
    "trim_speed": 10,
    "updates_per_timestep":  1},
  "env": 
    {"tasks": 
      { "sinusoid": {"kp": 0, "ki": 0, "kd": 0, "ref": 20, "period": 30},
        "velocity":  {"kp": -1, "ki": -0.05, "kd": 0, "ref": 30},
        "stop_over_point": {"kp": -0.3, "ki": 0, "kd": 2, "ref": 1000}
      }
    },
  "path": "/home/bart/PycharmProjects/msc-thesis/saved_models/"
}