3dball hard scale

config/sac_transfer/3DBallHardTransferCloud.yaml

       predict_return: true
       use_bisim: false
       use_transfer: true
-      load_model: true
-      train_model: false
-      load_action: true
-      train_action: false
-      transfer_path: "results/ball-action-s10/3DBall"
+      # load_model: true
+      # train_model: false
+      # load_action: true
+      # train_action: false
+      load_model: false
+      load_encoder: true
+      train_encoder: false
+      transfer_path: "results/hard-s0/3DBall"
     network_settings:
       normalize: true
       hidden_units: 128
     time_horizon: 1000
     summary_freq: 12000
     threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2

config/sac_transfer/3DBallHardTransferCloud1.yaml

       use_bisim: false
       use_transfer: true
       load_model: true
-      train_model: false
-      load_action: true
-      train_action: false
-      transfer_path: "results/ball-action-s11/3DBall"
+      # load_model: true
+      # train_model: false
+      # load_action: true
+      # train_action: false
+      load_model: false
+      load_encoder: true
+      train_encoder: false
+      transfer_path: "results/hard-s1/3DBall"
     network_settings:
       normalize: true
       hidden_units: 128
     time_horizon: 1000
     summary_freq: 12000
     threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2

config/sac_transfer/3DBallHardTransferCloud2.yaml

       predict_return: true
       use_bisim: false
       use_transfer: true
-      load_model: true
-      train_model: false
-      load_action: true
-      train_action: false
-      transfer_path: "results/ball-action-s12/3DBall"
+      # load_model: true
+      # train_model: false
+      # load_action: true
+      # train_action: false
+      load_model: false
+      load_encoder: true
+      train_encoder: false
+      transfer_path: "results/hard-s2/3DBall"
     network_settings:
       normalize: true
       hidden_units: 128
     time_horizon: 1000
     summary_freq: 12000
     threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2

config/sac_transfer/3DBallHardTransferCloud3.yaml

       predict_return: true
       use_bisim: false
       use_transfer: true
-      load_model: true
-      train_model: false
-      load_action: true
-      train_action: false
-      transfer_path: "results/ball-action-s13/3DBall"
+      # load_model: true
+      # train_model: false
+      # load_action: true
+      # train_action: false
+      load_model: false
+      load_encoder: true
+      train_encoder: false
+      transfer_path: "results/hard-s3/3DBall"
     network_settings:
       normalize: true
       hidden_units: 128
     time_horizon: 1000
     summary_freq: 12000
     threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2

config/sac_transfer/3DBallHardTransferCloud4.yaml

       predict_return: true
       use_bisim: false
       use_transfer: true
-      load_model: true
-      train_model: false
-      load_action: true
-      train_action: false
-      transfer_path: "results/ball-action-s14/3DBall"
+      # load_model: true
+      # train_model: false
+      # load_action: true
+      # train_action: false
+      load_model: false
+      load_encoder: true
+      train_encoder: false
+      transfer_path: "results/hard-s4/3DBall"
     network_settings:
       normalize: true
       hidden_units: 128
     time_horizon: 1000
     summary_freq: 12000
     threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2

config/sac/3DBallHardScale.yaml

+behaviors:
+  3DBallHard:
+    trainer_type: sac
+    hyperparameters:
+      learning_rate: 0.0003
+      learning_rate_schedule: linear
+      batch_size: 256
+      buffer_size: 500000
+      buffer_init_steps: 0
+      tau: 0.005
+      steps_per_update: 10.0
+      save_replay_buffer: false
+      init_entcoef: 1.0
+      reward_signal_steps_per_update: 10.0
+    network_settings:
+      normalize: true
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 500000
+    time_horizon: 1000
+    summary_freq: 12000
+    threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2

config/sac_transfer/3DBallHardCloudScale.yaml

+behaviors:
+  3DBallHard:
+    trainer_type: sac_transfer
+    hyperparameters:
+      learning_rate: 0.0003
+      learning_rate_schedule: linear
+      batch_size: 256
+      buffer_size: 500000
+      buffer_init_steps: 0
+      tau: 0.005
+      steps_per_update: 10.0
+      save_replay_buffer: false
+      init_entcoef: 1.0
+      reward_signal_steps_per_update: 10.0
+      encoder_layers: 2
+      policy_layers: 0
+      forward_layers: 0
+      value_layers: 1
+      feature_size: 64
+      action_layers: 1
+      action_feature_size: 32
+      # separate_value_net: true
+      separate_policy_train: true
+      # separate_value_train: true
+      separate_model_train: true
+      reuse_encoder: true
+      in_epoch_alter: false
+      in_batch_alter: true
+      use_op_buffer: false
+      use_var_predict: true
+      with_prior: false
+      predict_return: true
+      use_bisim: false
+    network_settings:
+      normalize: true
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 500000
+    time_horizon: 1000
+    summary_freq: 12000
+    threaded: true
+
+parameter_randomization:
+  scale:
+    sampler_type: uniform
+    sampler_parameters:
+      min_value: 2
+      max_value: 2