name: node_test_2
n_seg: 7

# Dataset
train_trajs:
  - 19

data_seed: 812
batch_size: 64
rollout_length: 250
n_epochs: 2

# Dynamics model
model_seed: 42
encoder:
  type: PINN
  width: 64
  depth: 2
  activation: tanh

dynamics:
  type: DiscretizedNODE
  n_u: 18
  width: 64
  depth: 2
  activation: tanh
  integrator:
    dt: 0.004
    rtol: 1.e-3
    atol: 1.e-3

decoder:
  type: FK
  n_y: 6
  width: 64
  depth: 2
  activation: tanh

# Optimizer
optimizer: adamw # rmsprop sgd
learning_rate_scheduler: constant 
transition_epochs: 1
initial_learning_rate: 0.001
final_learning_rate: 0.00001
polynomial_power: 0.5
weight_decay: 0.0001

# Cost function weights
q_rfem_l2: 0.0
dq_rfem_l2: 0.0