try out dreamer

[Armandpl]

• make reset faster by having a pid bring the motor to a stop. then maybe have a second one stop the pendulum from oscillating faster
  • also maybe make the angle threshold a bit wider for the pendulum. I think sometime it is outside of the bounds? maybe the encoders are slipping? maybe the seeduino is missing some encoder step? maybe the logic level converter is causing issue? maye the cables are too long?
    • could print the angle when we hit the timeout
      • convert from rad to deg
• setup dreamer in sim
• setup dreamer on the robot

[Armandpl]

dreamer is especially intersting here bc the dynamics of the system are probably trivial to learn + it's costly to collect steps on the real robot

[Armandpl]

in the same vibe we could learn a neural sim, maybe use a gpt model like comma is doing? check out karpathy's videos
having a good neural sim could be useful to tune/select good controllers, instead of hoping for rl agent convergence