behaviors:
  WalkerStatic:
    trainer_type: ppo
    hyperparameters:
      batch_size: 2048
      buffer_size: 20480
      learning_rate: 0.0003
      beta: 0.005
      epsilon: 0.2
      lambd: 0.95
      num_epoch: 3
      learning_rate_schedule: linear
      reuse_encoder: true
      separate_value_net: true
      in_epoch_alter: true
      train_model: false
      use_transfer: true
      transfer_path: "results/walk-old/WalkerStatic"
      load_value: false
      load_policy: false
    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: 20000000
    time_horizon: 1000
    summary_freq: 30000
    threaded: true