temp add robot arm training config

config/sac/ur3_config.yml

+# TouchCube:
+#     trainer: sac
+#     hyperparameters:
+#     batch_size: 128
+#     buffer_size: 50000
+#     buffer_init_steps: 0
+#     hidden_units: 128
+#     init_entcoef: 1.0
+#     learning_rate: 3.0e-4
+#     learning_rate_schedule: constant
+#     max_steps: 5.0e5
+#     memory_size: 128
+#     normalize: false
+#     num_update: 1
+#     train_interval: 1
+#     steps_per_update: 1
+#     num_layers: 2
+#     time_horizon: 64
+#     sequence_length: 64
+#     summary_freq: 5000
+#     tau: 0.005
+#     use_recurrent: false
+#     vis_encode_type: simple
+#     reward_signals:
+#         extrinsic:
+#             strength: 1.0
+#             gamma: 0.95
+behaviors:
+  TouchCube:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 512 #2048
+      buffer_size: 5120 #20480
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    output_path: default
+    keep_checkpoints: 5
+    max_steps: 20000000
+    time_horizon: 500 #1000
+    summary_freq: 30000
+    threaded: true
+# behaviors:
+#   TouchCube:
+#     trainer_type: sac
+#     hyperparameters:
+#       learning_rate: 0.0003
+#       learning_rate_schedule: constant
+#       batch_size: 256
+#       buffer_size: 500000
+#       buffer_init_steps: 0
+#       tau: 0.005
+#       steps_per_update: 30.0
+#       save_replay_buffer: false
+#       init_entcoef: 1.0
+#       reward_signal_steps_per_update: 30.0
+#     network_settings:
+#       normalize: true
+#       hidden_units: 512
+#       num_layers: 4
+#       vis_encode_type: simple
+#     reward_signals:
+#       extrinsic:
+#         gamma: 0.995
+#         strength: 1.0
+#     output_path: default
+#     keep_checkpoints: 5
+#     max_steps: 20000000
+#     time_horizon: 1000
+#     summary_freq: 30000
+#     threaded: true