update static prefabs

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab

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Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Ragdoll/CrawlerBase.prefab

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Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity

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Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicVariableSpeed.unity

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Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity

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Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

             case CrawlerAgentBehaviorType.CrawlerDynamic :
             {
                 m_BehaviorParams.BehaviorName = "CrawlerDynamic";
+                if(crawlerDyBrain)
+                    m_BehaviorParams.Model = crawlerDyBrain;
                 randomizeWalkSpeedEachEpisode = false;
                 target = Instantiate(targetPrefab, transform.position, Quaternion.identity, transform);
                 break;
                 m_BehaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed";
+                if(crawlerDyVSBrain)
+                    m_BehaviorParams.Model = crawlerDyVSBrain;
+//                    SetModel("CrawlerDynamicVariableSpeed", crawlerDyVSBrain);
                 target = Instantiate(targetPrefab, transform.position, Quaternion.identity, transform);
                 randomizeWalkSpeedEachEpisode = true;
                 break;
                 m_BehaviorParams.BehaviorName = "CrawlerStatic";
-                var targetSpawnPos = transform.TransformDirection(new Vector3(0, 0, 1800));
+                if(crawlerStBrain)
+                    m_BehaviorParams.Model = crawlerStBrain;
+                var targetSpawnPos = transform.TransformPoint(new Vector3(0, 0, 1000));
                 target = Instantiate(targetPrefab, targetSpawnPos, Quaternion.identity, transform);
                 randomizeWalkSpeedEachEpisode = false;
                 break;
                 m_BehaviorParams.BehaviorName = "CrawlerStaticVariableSpeed";
-                var targetSpawnPos = transform.TransformDirection(new Vector3(0, 0, 1800));
+                if(crawlerStVSBrain)
+                    m_BehaviorParams.Model = crawlerStVSBrain;
+                var targetSpawnPos = transform.TransformPoint(new Vector3(0, 0, 1000));
                 target = Instantiate(targetPrefab, targetSpawnPos, Quaternion.identity, transform);
                 randomizeWalkSpeedEachEpisode = true;
                 break;

config/ppo/CrawlerStaticVariableSpeed.yaml

+behaviors:
+  CrawlerStaticVariableSpeed:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2024
+      buffer_size: 20240
+      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
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 1000
+    summary_freq: 30000
+    threaded: true