behaviors:
  3DBall:
    trainer_type: sac
    hyperparameters:
      learning_rate: 0.0003
      learning_rate_schedule: linear
      batch_size: 64
      buffer_size: 500000
      buffer_init_steps: 0
      tau: 0.005
      steps_per_update: 10.0
      save_replay_buffer: false
      init_entcoef: 0.5
      reward_signal_steps_per_update: 10.0
    network_settings:
      normalize: true
      hidden_units: 128
      num_layers: 2
      vis_encode_type: simple
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
    keep_checkpoints: 5
    max_steps: 500000
    time_horizon: 1000
    summary_freq: 12000
    threaded: true

parameter_randomization:
  mass:
    sampler_type: uniform
    sampler_parameters:
      min_value: 2.0
      max_value: 2.0