- Renamed 'Generalization' feature to 'Environment Parameter Randomization'.
- Fixed an issue where specifying `vis_encode_type` was required only for SAC. (#3677)
- The way that UnityEnvironment decides the port was changed. If no port is specified, the behavior will depend on the `file_name` parameter. If it is `None`, 5004 (the editor port) will be used; otherwise 5005 (the base environment port) will be used.
- Fixed an issue where switching models using `SetModel()` during training would use an excessive amount of memory. (#3664)
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