default:
    trainer: ppo
    batch_size: 1024
    beta: 5.0e-3
    buffer_size: 10240
    epsilon: 0.2
    hidden_units: 128
    lambd: 0.95
    learning_rate: 3.0e-4
    learning_rate_schedule: linear
    max_steps: 5.0e5
    memory_size: 128
    normalize: false
    num_epoch: 3
    num_layers: 2
    time_horizon: 64
    sequence_length: 64
    summary_freq: 10000
    use_recurrent: false
    vis_encode_type: simple
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.99

FoodCollector:
    normalize: false
    beta: 5.0e-3
    batch_size: 1024
    buffer_size: 10240
    max_steps: 2.0e6

Bouncer:
    normalize: true
    max_steps: 4.0e6
    num_layers: 2
    hidden_units: 64

PushBlock:
    max_steps: 2.0e6
    batch_size: 128
    buffer_size: 2048
    beta: 1.0e-2
    hidden_units: 256
    summary_freq: 60000
    time_horizon: 64
    num_layers: 2

SmallWallJump:
    max_steps: 5e6
    batch_size: 128
    buffer_size: 2048
    beta: 5.0e-3
    hidden_units: 256
    summary_freq: 20000
    time_horizon: 128
    num_layers: 2
    normalize: false

BigWallJump:
    max_steps: 2e7
    batch_size: 128
    buffer_size: 2048
    beta: 5.0e-3
    hidden_units: 256
    summary_freq: 20000
    time_horizon: 128
    num_layers: 2
    normalize: false

Pyramids:
    summary_freq: 30000
    time_horizon: 128
    batch_size: 128
    buffer_size: 2048
    hidden_units: 512
    num_layers: 2
    beta: 1.0e-2
    max_steps: 1.0e7
    num_epoch: 3
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.99
        curiosity:
            strength: 0.02
            gamma: 0.99
            encoding_size: 256

VisualPyramids:
    time_horizon: 128
    batch_size: 64
    buffer_size: 2024
    hidden_units: 256
    num_layers: 1
    beta: 1.0e-2
    max_steps: 1.0e7
    num_epoch: 3
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.99
        curiosity:
            strength: 0.01
            gamma: 0.99
            encoding_size: 256

3DBall:
    normalize: true
    batch_size: 64
    buffer_size: 12000
    summary_freq: 12000
    time_horizon: 1000
    lambd: 0.99
    beta: 0.001

3DBallHard:
    normalize: true
    batch_size: 1200
    buffer_size: 12000
    summary_freq: 12000
    time_horizon: 1000
    max_steps: 5.0e6
    beta: 0.001
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

Tennis:
    max_steps: 1.0e8
    learning_rate_schedule: constant
    batch_size: 2048
    buffer_size: 20480
    hidden_units: 512
    beta: 2.0e-2
    threaded: false
    time_horizon: 1000
    self_play:
        window: 100
        play_against_latest_model_ratio: 0.0
        save_steps: 50000
        swap_steps: 2000
        team_change: 100000

Goalie:
    normalize: false
    max_steps: 5.0e7
    learning_rate_schedule: constant
    batch_size: 2048
    buffer_size: 20480
    hidden_units: 512
    beta: 1.0e-2
    threaded: false
    time_horizon: 1000
    num_layers: 2
    self_play:
        window: 100
        play_against_latest_model_ratio: 0.5
        save_steps: 50000
        swap_steps: 2500
        team_change: 200000

Striker:
    normalize: false
    max_steps: 5.0e7
    learning_rate_schedule: constant
    batch_size: 2048
    buffer_size: 20480
    hidden_units: 512
    beta: 1.0e-2
    threaded: false
    time_horizon: 1000
    num_layers: 2
    self_play:
        window: 100
        play_against_latest_model_ratio: 0.5
        save_steps: 50000
        swap_steps: 10000
        team_change: 200000

SoccerTwos:
    normalize: false
    max_steps: 1.0e8
    learning_rate_schedule: constant
    batch_size: 2048
    buffer_size: 20480
    hidden_units: 512
    beta: 1.0e-2
    threaded: false
    time_horizon: 1000
    num_layers: 2
    self_play:
        window: 100
        play_against_latest_model_ratio: 0.5
        save_steps: 50000
        swap_steps: 2000
        team_change: 200000

SmallCubeSoldier:
    normalize: false
    max_steps: 5.0e7
    learning_rate_schedule: constant
    batch_size: 2048
    buffer_size: 20480
    hidden_units: 512
    time_horizon: 1000
    num_layers: 2
    self_play:
        window: 10
        play_against_latest_model_ratio: 0.5
        save_steps: 50000
        swap_steps: 150000
        team_change: 200000

LargeCubeSoldier:
    normalize: false
    max_steps: 5.0e7
    learning_rate_schedule: constant
    batch_size: 2048
    buffer_size: 20480
    hidden_units: 512
    time_horizon: 1000
    num_layers: 2
    self_play:
        window: 10
        play_against_latest_model_ratio: 0.5
        save_steps: 50000
        swap_steps: 17000
        team_change: 200000


CrawlerStatic:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    max_steps: 1e7
    summary_freq: 30000
    num_layers: 3
    hidden_units: 512
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

CrawlerDynamic:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    max_steps: 1e7
    summary_freq: 30000
    num_layers: 3
    hidden_units: 512
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

WormDynamic:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    max_steps: 3.5e6
    summary_freq: 30000
    num_layers: 3
    hidden_units: 512
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

WormStatic:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    max_steps: 3.5e6
    summary_freq: 30000
    num_layers: 3
    hidden_units: 512
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

Walker:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2048
    buffer_size: 20480
    max_steps: 2e7
    summary_freq: 30000
    num_layers: 3
    hidden_units: 512
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

Reacher:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    max_steps: 2e7
    summary_freq: 60000
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.995

Hallway:
    use_recurrent: true
    sequence_length: 64
    num_layers: 2
    hidden_units: 128
    memory_size: 128
    beta: 1.0e-2
    num_epoch: 3
    buffer_size: 1024
    batch_size: 128
    max_steps: 1.0e7
    summary_freq: 10000
    time_horizon: 64

VisualHallway:
    use_recurrent: true
    sequence_length: 64
    num_layers: 1
    hidden_units: 128
    memory_size: 128
    beta: 1.0e-2
    num_epoch: 3
    buffer_size: 1024
    batch_size: 64
    max_steps: 1.0e7
    summary_freq: 10000
    time_horizon: 64

VisualPushBlock:
    use_recurrent: true
    sequence_length: 32
    num_layers: 1
    hidden_units: 128
    memory_size: 128
    beta: 1.0e-2
    num_epoch: 3
    buffer_size: 1024
    batch_size: 64
    max_steps: 3.0e6
    summary_freq: 60000
    time_horizon: 64

GridWorld:
    batch_size: 32
    normalize: false
    num_layers: 1
    hidden_units: 256
    beta: 5.0e-3
    buffer_size: 256
    max_steps: 500000
    summary_freq: 20000
    time_horizon: 5
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.9

Basic:
    batch_size: 32
    normalize: false
    num_layers: 1
    hidden_units: 20
    beta: 5.0e-3
    buffer_size: 256
    max_steps: 5.0e5
    summary_freq: 2000
    time_horizon: 3
    reward_signals:
        extrinsic:
            strength: 1.0
            gamma: 0.9