From 7b9c52955bdce25acb54b0aceb2b7680c73bc5ef Mon Sep 17 00:00:00 2001
From: JackM323 <jackmkm33@gmail.com>
Date: Thu, 27 Aug 2026 21:55:16 +0200
Subject: [PATCH] decrease extreme explorationin training

---
 ml/run_train.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ml/run_train.py b/ml/run_train.py
index bb9f317..542cc59 100644
--- a/ml/run_train.py
+++ b/ml/run_train.py
@@ -87,7 +87,7 @@ def main():
             args.pretrained_model,
             env=vec_env,
             learning_rate=5e-5,  # Lower learning rate so RL fine-tunes without destroying base gait
-            ent_coef=0.001,
+            ent_coef=0.0,
             target_kl=0.05,
             vf_coef=0.5,
             max_grad_norm=0.5,
@@ -107,7 +107,7 @@ def main():
             gamma=0.99,
             gae_lambda=0.95,
             clip_range=0.2,
-            ent_coef=0.001,
+            ent_coef=0.0,
             target_kl=0.05,
             vf_coef=0.5,
             max_grad_norm=0.5,
@@ -115,7 +115,7 @@ def main():
             tensorboard_log=args.log_dir,
             device="cpu",
         )
-
+    model.policy.log_std.data.fill_(-2.0)
     # Setup Callbacks with ppo<number> naming
     checkpoint_callback = CheckpointCallback(
         save_freq=max(1, args.save_freq // args.num_workers),