behaviors:
  WalkerStatic:
    trainer_type: ppo_transfer
    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
      encoder_layers: 2
      policy_layers: 2
      value_layers: 3
      forward_layers: 2
      inverse_layers: 1
      separate_value_net: true
      feature_size: 64
      reuse_encoder: false
      in_epoch_alter: true
      use_op_buffer: true
    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