Add Visual3DBall scene (#4513)

* Add Visual3DBall scene which use visual observations with stacking
4 年前 · b33e310f
--- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 8
-    numStackedVectorObservations: 1
-    vectorActionSize: 02000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 1
+    VectorObservationSize: 8
+    NumStackedVectorObservations: 1
+    VectorActionSize: 02000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 1
-  m_TeamID: 0
-  m_useChildSensors: 1
+  TeamId: 0
+  m_UseChildSensors: 1
+  m_UseChildActuators: 1
+  m_ObservableAttributeHandling: 0
 --- !u!114 &114715123104194396
 MonoBehaviour:
  m_ObjectHideFlags: 0
  m_Script: {fileID: 11500000, guid: aaba48bf82bee4751aa7b89569e57f73, type: 3}
  m_Name: 
  m_EditorClassIdentifier: 
-  maxStep: 5000
+  agentParameters:
+    maxStep: 0
+  hasUpgradedFromAgentParameters: 1
+  MaxStep: 5000
+  useVecObs: 1
 --- !u!114 &1306725529891448089
 MonoBehaviour:
  m_ObjectHideFlags: 0
  m_Name: 
  m_EditorClassIdentifier: 
  DecisionPeriod: 5
-  RepeatAction: 1
-  offsetStep: 0
+  TakeActionsBetweenDecisions: 1
 --- !u!114 &1758424554059689351
 MonoBehaviour:
  m_ObjectHideFlags: 0
  m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3}
  m_Name: 
  m_EditorClassIdentifier: 
+  debugCommandLineOverride: 
 --- !u!1 &1533320402322554
 GameObject:
  m_ObjectHideFlags: 0
--- a/Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity
  m_ReflectionIntensity: 1
  m_CustomReflection: {fileID: 0}
  m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.44971162, g: 0.49977726, b: 0.5756362, a: 1}
+  m_IndirectSpecularColor: {r: 0.44971168, g: 0.4997775, b: 0.57563686, a: 1}
  m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
  m_Modification:
    m_TransformParent: {fileID: 0}
    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
+      propertyPath: m_Name
+      value: 3DBall
+      objectReference: {fileID: 0}
    - target: {fileID: 4679453577574622, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
      propertyPath: m_LocalPosition.x
      value: 0
    - target: {fileID: 4679453577574622, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
      propertyPath: m_RootOrder
      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
      objectReference: {fileID: 0}
    m_RemovedComponents: []
  m_SourcePrefab: {fileID: 100100000, guid: cfa81c019162c4e3caf6e2999c6fdf48, type: 3}
  maximumDeltaTime: 0.33333334
  solverIterations: 6
  solverVelocityIterations: 1
+  reuseCollisionCallbacks: 1
 --- !u!1 &1746325439
 GameObject:
  m_ObjectHideFlags: 0
--- a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
 {
    [Header("Specific to Ball3D")]
    public GameObject ball;
+    [Tooltip("Whether to use vector observation. This option should be checked " +
+        "in 3DBall scene, and unchecked in Visual3DBall scene. ")]
+    public bool useVecObs;
    Rigidbody m_BallRb;
    EnvironmentParameters m_ResetParams;


    public override void CollectObservations(VectorSensor sensor)
    {
-        sensor.AddObservation(gameObject.transform.rotation.z);
-        sensor.AddObservation(gameObject.transform.rotation.x);
-        sensor.AddObservation(ball.transform.position - gameObject.transform.position);
-        sensor.AddObservation(m_BallRb.velocity);
+        if (useVecObs)
+        {
+            sensor.AddObservation(gameObject.transform.rotation.z);
+            sensor.AddObservation(gameObject.transform.rotation.x);
+            sensor.AddObservation(ball.transform.position - gameObject.transform.position);
+            sensor.AddObservation(m_BallRb.velocity);
+        }
    }

    public override void OnActionReceived(ActionBuffers actionBuffers)
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
 additional method `GetCompressedChannelMapping()`is added to generate a mapping
 of the channels in compressed data to the actual channel after decompression,
 for the python side to decompress correctly. (#4476)
+ - Added new visual 3DBall environment. (#4513)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - The Communication API was changed to 1.2.0 to indicate support for stacked
 compressed observation. A new entry `compressed_channel_mapping` is added to the
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
    rotation of the agent cube and position of ball.
  - Vector Action space: (Continuous) Size of 2, with one value corresponding to
    X-rotation, and the other to Z-rotation.
-  - Visual Observations: None.
+  - Visual Observations: Third-person view from the upper-front of the agent. Use
+    `Visual3DBall` scene.
 - Float Properties: Three
  - scale: Specifies the scale of the ball in the 3 dimensions (equal across the
    three dimensions)
--- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &53549307
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 53549308}
+  - component: {fileID: 53549310}
+  m_Layer: 0
+  m_Name: Camera
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &53549308
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 53549307}
+  m_LocalRotation: {x: 0.2588191, y: 0, z: 0, w: 0.9659258}
+  m_LocalPosition: {x: 0, y: 7, z: -8}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4679453577574622}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 30, y: 0, z: 0}
+--- !u!20 &53549310
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 53549307}
+  m_Enabled: 1
+  serializedVersion: 2
+  m_ClearFlags: 2
+  m_BackGroundColor: {r: 0, g: 0, b: 0, a: 0}
+  m_projectionMatrixMode: 1
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_GateFitMode: 2
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0.1
+    y: 0
+    width: 0.8
+    height: 1
+  near clip plane: 0.3
+  far clip plane: 1000
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 1
+  m_TargetEye: 3
+  m_HDR: 1
+  m_AllowMSAA: 1
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
+--- !u!1 &1036225416237908
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4259352808153402}
+  - component: {fileID: 33399516572863624}
+  - component: {fileID: 135693586603893602}
+  - component: {fileID: 23610325484096200}
+  - component: {fileID: 54597526346971362}
+  m_Layer: 0
+  m_Name: Ball
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4259352808153402
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1036225416237908}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 4.31, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4679453577574622}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &33399516572863624
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1036225416237908}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!135 &135693586603893602
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1036225416237908}
+  m_Material: {fileID: 13400000, guid: 56162663048874fd4b10e065f9cf78b7, type: 2}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Radius: 0.5
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23610325484096200
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1036225416237908}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: cf2a3769e6d5446698f2e3f5aab68915, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!54 &54597526346971362
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1036225416237908}
+  serializedVersion: 2
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.01
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
+--- !u!1 &1321468028730240
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4679453577574622}
+  m_Layer: 0
+  m_Name: Visual3DBall
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4679453577574622
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1321468028730240}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 5}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 4259352808153402}
+  - {fileID: 4780098186595842}
+  - {fileID: 53549308}
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1424713891854676
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4780098186595842}
+  - component: {fileID: 65010516625723872}
+  - component: {fileID: 114368073295828880}
+  - component: {fileID: 7705253412956426214}
+  - component: {fileID: 1306725529891448089}
+  - component: {fileID: 1758424554059689351}
+  - component: {fileID: 289308178}
+  m_Layer: 0
+  m_Name: Agent
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4780098186595842
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 5, y: 5, z: 5}
+  m_Children:
+  - {fileID: 7877045717626169260}
+  m_Father: {fileID: 4679453577574622}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!65 &65010516625723872
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!114 &114368073295828880
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 5d1c4e0b1822b495aa52bc52839ecb30, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_BrainParameters:
+    VectorObservationSize: 0
+    NumStackedVectorObservations: 1
+    VectorActionSize: 02000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 1
+  m_Model: {fileID: 11400000, guid: 8eb5fecdbd2eb4ec48236d3fee1e1149, type: 3}
+  m_InferenceDevice: 0
+  m_BehaviorType: 0
+  m_BehaviorName: Visual3DBall
+  TeamId: 0
+  m_UseChildSensors: 1
+  m_UseChildActuators: 1
+  m_ObservableAttributeHandling: 0
+--- !u!114 &7705253412956426214
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: aaba48bf82bee4751aa7b89569e57f73, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  agentParameters:
+    maxStep: 0
+  hasUpgradedFromAgentParameters: 1
+  MaxStep: 5000
+  ball: {fileID: 1036225416237908}
+  useVecObs: 0
+--- !u!114 &1306725529891448089
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 3a5c9d521e5ef4759a8246a07d52221e, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  DecisionPeriod: 5
+  TakeActionsBetweenDecisions: 1
+--- !u!114 &1758424554059689351
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  debugCommandLineOverride: 
+--- !u!114 &289308178
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1424713891854676}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 282f342c2ab144bf38be65d4d0c4e07d, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Camera: {fileID: 53549310}
+  m_SensorName: CameraSensor
+  m_Width: 84
+  m_Height: 84
+  m_Grayscale: 0
+  m_ObservationStacks: 4
+  m_Compression: 1
+--- !u!1001 &7872559608310024940
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 4780098186595842}
+    m_Modifications:
+    - target: {fileID: 1293290366791352, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_Name
+      value: AgentCube_Blue
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_RootOrder
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 180
+      objectReference: {fileID: 0}
+    - target: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 70d695e1d8399400bb0f2873bdf29bb0, type: 3}
+--- !u!4 &7877045717626169260 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 4521296116772160, guid: 70d695e1d8399400bb0f2873bdf29bb0,
+    type: 3}
+  m_PrefabInstance: {fileID: 7872559608310024940}
+  m_PrefabAsset: {fileID: 0}
--- a/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab.meta
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Prefabs/Visual3DBall.prefab.meta
+fileFormatVersion: 2
+guid: ec49a7b8b70a24ab48d7ca0bf5a063a6
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!29 &1
+OcclusionCullingSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_OcclusionBakeSettings:
+    smallestOccluder: 5
+    smallestHole: 0.25
+    backfaceThreshold: 100
+  m_SceneGUID: 00000000000000000000000000000000
+  m_OcclusionCullingData: {fileID: 0}
+--- !u!104 &2
+RenderSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 9
+  m_Fog: 0
+  m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_FogMode: 3
+  m_FogDensity: 0.01
+  m_LinearFogStart: 0
+  m_LinearFogEnd: 300
+  m_AmbientSkyColor: {r: 0.8, g: 0.8, b: 0.8, a: 1}
+  m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
+  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
+  m_AmbientIntensity: 1
+  m_AmbientMode: 3
+  m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1}
+  m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0}
+  m_HaloStrength: 0.5
+  m_FlareStrength: 1
+  m_FlareFadeSpeed: 3
+  m_HaloTexture: {fileID: 0}
+  m_SpotCookie: {fileID: 10001, guid: 0000000000000000e000000000000000, type: 0}
+  m_DefaultReflectionMode: 0
+  m_DefaultReflectionResolution: 128
+  m_ReflectionBounces: 1
+  m_ReflectionIntensity: 1
+  m_CustomReflection: {fileID: 0}
+  m_Sun: {fileID: 0}
+  m_IndirectSpecularColor: {r: 0.44971168, g: 0.4997775, b: 0.57563686, a: 1}
+  m_UseRadianceAmbientProbe: 0
+--- !u!157 &3
+LightmapSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 11
+  m_GIWorkflowMode: 0
+  m_GISettings:
+    serializedVersion: 2
+    m_BounceScale: 1
+    m_IndirectOutputScale: 1
+    m_AlbedoBoost: 1
+    m_EnvironmentLightingMode: 0
+    m_EnableBakedLightmaps: 1
+    m_EnableRealtimeLightmaps: 1
+  m_LightmapEditorSettings:
+    serializedVersion: 10
+    m_Resolution: 2
+    m_BakeResolution: 40
+    m_AtlasSize: 1024
+    m_AO: 0
+    m_AOMaxDistance: 1
+    m_CompAOExponent: 1
+    m_CompAOExponentDirect: 0
+    m_Padding: 2
+    m_LightmapParameters: {fileID: 0}
+    m_LightmapsBakeMode: 1
+    m_TextureCompression: 1
+    m_FinalGather: 0
+    m_FinalGatherFiltering: 1
+    m_FinalGatherRayCount: 256
+    m_ReflectionCompression: 2
+    m_MixedBakeMode: 2
+    m_BakeBackend: 0
+    m_PVRSampling: 1
+    m_PVRDirectSampleCount: 32
+    m_PVRSampleCount: 500
+    m_PVRBounces: 2
+    m_PVRFilterTypeDirect: 0
+    m_PVRFilterTypeIndirect: 0
+    m_PVRFilterTypeAO: 0
+    m_PVRFilteringMode: 1
+    m_PVRCulling: 1
+    m_PVRFilteringGaussRadiusDirect: 1
+    m_PVRFilteringGaussRadiusIndirect: 5
+    m_PVRFilteringGaussRadiusAO: 2
+    m_PVRFilteringAtrousPositionSigmaDirect: 0.5
+    m_PVRFilteringAtrousPositionSigmaIndirect: 2
+    m_PVRFilteringAtrousPositionSigmaAO: 1
+    m_ShowResolutionOverlay: 1
+  m_LightingDataAsset: {fileID: 0}
+  m_UseShadowmask: 1
+--- !u!196 &4
+NavMeshSettings:
+  serializedVersion: 2
+  m_ObjectHideFlags: 0
+  m_BuildSettings:
+    serializedVersion: 2
+    agentTypeID: 0
+    agentRadius: 0.5
+    agentHeight: 2
+    agentSlope: 45
+    agentClimb: 0.4
+    ledgeDropHeight: 0
+    maxJumpAcrossDistance: 0
+    minRegionArea: 2
+    manualCellSize: 0
+    cellSize: 0.16666667
+    manualTileSize: 0
+    tileSize: 256
+    accuratePlacement: 0
+    debug:
+      m_Flags: 0
+  m_NavMeshData: {fileID: 0}
+--- !u!1001 &255414642
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1537641056927260, guid: 3ce107b4a79bc4eef83afde434932a68, type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_AnchoredPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_AnchoredPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_SizeDelta.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_SizeDelta.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_AnchorMin.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_AnchorMin.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_AnchorMax.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_AnchorMax.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_Pivot.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
+        type: 3}
+      propertyPath: m_Pivot.y
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 3ce107b4a79bc4eef83afde434932a68, type: 3}
+--- !u!1001 &306910672
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (2)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 40
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 7
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1001 &556696704
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (7)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 60
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 20
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 12
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1001 &996691359
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (1)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 20
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 6
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1001 &1119003996
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (5)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 20
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 20
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 10
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1001 &1393635142
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (4)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 20
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 9
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1 &1583402087
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 1408885610532680, guid: 00a1ebe742cf2394d8c21484e3a02412,
+    type: 2}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1583402088}
+  - component: {fileID: 1583402090}
+  m_Layer: 0
+  m_Name: Ball3DSettings
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1583402088
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 4673284961943764, guid: 00a1ebe742cf2394d8c21484e3a02412,
+    type: 2}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1583402087}
+  m_LocalRotation: {x: -0.069583125, y: 0.0049145464, z: 0.0702813, w: 0.99508524}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 5, y: 0.19999993, z: 5}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 4
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1583402090
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1583402087}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: ec51f47c5ed0478080c449c74fd9c154, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  gravityMultiplier: 1
+  fixedDeltaTime: 0.02
+  maximumDeltaTime: 0.33333334
+  solverIterations: 6
+  solverVelocityIterations: 1
+  reuseCollisionCallbacks: 1
+--- !u!1 &1746325439
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1746325442}
+  - component: {fileID: 1746325441}
+  - component: {fileID: 1746325440}
+  m_Layer: 0
+  m_Name: EventSystem
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &1746325440
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1746325439}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 1077351063, guid: f5f67c52d1564df4a8936ccd202a3bd8, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_HorizontalAxis: Horizontal
+  m_VerticalAxis: Vertical
+  m_SubmitButton: Submit
+  m_CancelButton: Cancel
+  m_InputActionsPerSecond: 10
+  m_RepeatDelay: 0.5
+  m_ForceModuleActive: 0
+--- !u!114 &1746325441
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1746325439}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: -619905303, guid: f5f67c52d1564df4a8936ccd202a3bd8, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_FirstSelected: {fileID: 0}
+  m_sendNavigationEvents: 1
+  m_DragThreshold: 5
+--- !u!4 &1746325442
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1746325439}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 3
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1001 &1797623013
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (6)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 40
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 20
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 11
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1001 &1916479629
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0.31598538
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: -0.3596048
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0.13088542
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0.8681629
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_RootOrder
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 4943719350691982, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: -45
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 5889392e3f05b448a8a06c5def6c2dec, type: 3}
+--- !u!1001 &2055232544
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall (3)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 60
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 8
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+--- !u!1 &2060751695
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2060751697}
+  - component: {fileID: 2060751696}
+  m_Layer: 0
+  m_Name: Main Camera
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!20 &2060751696
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2060751695}
+  m_Enabled: 1
+  serializedVersion: 2
+  m_ClearFlags: 2
+  m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
+  m_projectionMatrixMode: 1
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_GateFitMode: 2
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.3
+  far clip plane: 1000
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 1
+  m_AllowMSAA: 1
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
+--- !u!4 &2060751697
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2060751695}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 28.99, y: 14.09, z: -40.6}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1001 &2133304610
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1321468028730240, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_Name
+      value: Visual3DBall
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_RootOrder
+      value: 5
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4679453577574622, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: ec49a7b8b70a24ab48d7ca0bf5a063a6, type: 3}
--- a/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity.meta
+++ b/Project/Assets/ML-Agents/Examples/3DBall/Scenes/Visual3DBall.unity.meta
+fileFormatVersion: 2
+guid: 345b1ab9777d749dd885c6ea9f138d57
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Project/Assets/ML-Agents/Examples/3DBall/TFModels/Visual3DBall.nn
+++ b/Project/Assets/ML-Agents/Examples/3DBall/TFModels/Visual3DBall.nn
--- a/Project/Assets/ML-Agents/Examples/3DBall/TFModels/Visual3DBall.nn.meta
+++ b/Project/Assets/ML-Agents/Examples/3DBall/TFModels/Visual3DBall.nn.meta
+fileFormatVersion: 2
+guid: 8eb5fecdbd2eb4ec48236d3fee1e1149
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}
--- a/config/ppo/Visual3DBall.yaml
+++ b/config/ppo/Visual3DBall.yaml
+behaviors:
+  Visual3DBall:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 256
+      buffer_size: 2560
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 400000
+    time_horizon: 64
+    summary_freq: 20000
+    threaded: true