training_config.json

{
  "task_id": "Mjlab-Velocity-Flat-MicroDuck",
  "algorithm": "PPO (rsl_rl)",
  "seed": 42,
  "num_envs": 4096,
  "max_iterations": 4000,
  "checkpoint": "model_3999.pt",
  "checkpoint_iteration": 3999,
  "microduck_rl_commit": "29e887ecfbf5d37144759e5a9f8a176dfb83d547",
  "python": "3.12",
  "observation_shape": [
    1,
    61
  ],
  "action_shape": [
    1,
    14
  ]
}