default:
    trainer: ppo
    batch_size: 1024
    beta: 5.0e-3
    buffer_size: 10240
    epsilon: 0.2
    gamma: 0.99
    hidden_units: 128
    lambd: 0.95
    learning_rate: 3.0e-4
    max_steps: 5.0e4
    memory_size: 256
    normalize: false
    num_epoch: 3
    num_layers: 2
    time_horizon: 64
    sequence_length: 64
    summary_freq: 1000
    use_recurrent: false
    use_curiosity: false
    curiosity_strength: 0.01
    curiosity_enc_size: 128

BananaBrain:
    normalize: false
    batch_size: 1024
    beta: 5.0e-3
    buffer_size: 10240
    max_steps: 1.0e5

BouncerBrain:
    normalize: true
    max_steps: 5.0e5
    num_layers: 2
    hidden_units: 64

PushBlockBrain:
    max_steps: 5.0e4
    batch_size: 128
    buffer_size: 2048
    beta: 1.0e-2
    hidden_units: 256
    summary_freq: 2000
    time_horizon: 64
    num_layers: 2

SmallWallBrain: 
    max_steps: 1.0e6
    batch_size: 128
    buffer_size: 2048
    beta: 5.0e-3
    hidden_units: 256
    summary_freq: 2000
    time_horizon: 128
    num_layers: 2
    normalize: false

BigWallBrain: 
    max_steps: 1.0e6
    batch_size: 128
    buffer_size: 2048
    beta: 5.0e-3
    hidden_units: 256
    summary_freq: 2000
    time_horizon: 128
    num_layers: 2
    normalize: false

StrikerBrain:
    max_steps: 5.0e5
    learning_rate: 1e-3
    batch_size: 128
    num_epoch: 3
    buffer_size: 2000
    beta: 1.0e-2
    hidden_units: 256
    summary_freq: 2000
    time_horizon: 128
    num_layers: 2
    normalize: false

GoalieBrain:
    max_steps: 5.0e5
    learning_rate: 1e-3
    batch_size: 320
    num_epoch: 3
    buffer_size: 2000
    beta: 1.0e-2
    hidden_units: 256
    summary_freq: 2000
    time_horizon: 128
    num_layers: 2
    normalize: false

PyramidBrain:
    use_curiosity: true
    summary_freq: 2000
    curiosity_strength: 0.01
    curiosity_enc_size: 256
    time_horizon: 128
    batch_size: 128
    buffer_size: 2048
    hidden_units: 512
    num_layers: 2
    beta: 1.0e-2
    max_steps: 5.0e5
    num_epoch: 3

VisualPyramidBrain:
    use_curiosity: true
    curiosity_strength: 0.01
    curiosity_enc_size: 256
    time_horizon: 128
    batch_size: 64
    buffer_size: 2024
    hidden_units: 256
    num_layers: 1
    beta: 1.0e-2
    max_steps: 5.0e5
    num_epoch: 3

Ball3DBrain:
    normalize: true
    batch_size: 64
    buffer_size: 12000
    summary_freq: 1000
    time_horizon: 1000
    lambd: 0.99
    gamma: 0.995
    beta: 0.001

Ball3DHardBrain:
    normalize: true
    batch_size: 1200
    buffer_size: 12000
    summary_freq: 1000
    time_horizon: 1000
    gamma: 0.995
    beta: 0.001

TennisBrain:
    normalize: true

CrawlerBrain:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    gamma: 0.995
    max_steps: 1e6
    summary_freq: 3000
    num_layers: 3
    hidden_units: 512

WalkerBrain:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2048
    buffer_size: 20480
    gamma: 0.995
    max_steps: 2e6
    summary_freq: 3000
    num_layers: 3
    hidden_units: 512

ReacherBrain:
    normalize: true
    num_epoch: 3
    time_horizon: 1000
    batch_size: 2024
    buffer_size: 20240
    gamma: 0.995
    max_steps: 1e6
    summary_freq: 3000

HallwayBrain:
    use_recurrent: true
    sequence_length: 64
    num_layers: 2
    hidden_units: 128
    memory_size: 256
    beta: 1.0e-2
    gamma: 0.99
    num_epoch: 3
    buffer_size: 1024
    batch_size: 128
    max_steps: 5.0e5
    summary_freq: 1000
    time_horizon: 64

VisualHallwayBrain:
    use_recurrent: true
    sequence_length: 64
    num_layers: 1
    hidden_units: 128
    memory_size: 256
    beta: 1.0e-2
    gamma: 0.99
    num_epoch: 3
    buffer_size: 1024
    batch_size: 64
    max_steps: 5.0e5
    summary_freq: 1000
    time_horizon: 64

VisualPushBlockBrain:
    use_recurrent: true
    sequence_length: 32
    num_layers: 1
    hidden_units: 128
    memory_size: 256
    beta: 1.0e-2
    gamma: 0.99
    num_epoch: 3
    buffer_size: 1024
    batch_size: 64
    max_steps: 5.0e5
    summary_freq: 1000
    time_horizon: 64

GridWorldBrain:
    batch_size: 32
    normalize: false
    num_layers: 1
    hidden_units: 256
    beta: 5.0e-3
    gamma: 0.9
    buffer_size: 256
    max_steps: 5.0e5
    summary_freq: 2000
    time_horizon: 5

BasicBrain:
    batch_size: 32
    normalize: false
    num_layers: 1
    hidden_units: 20
    beta: 5.0e-3
    gamma: 0.9
    buffer_size: 256
    max_steps: 5.0e5
    summary_freq: 2000
    time_horizon: 3

StudentBrain:
    trainer: imitation
    max_steps: 10000
    summary_freq: 1000
    brain_to_imitate: TeacherBrain
    batch_size: 16
    batches_per_epoch: 5
    num_layers: 4
    hidden_units: 64
    sequence_length: 16
    buffer_size: 128

StudentRecurrentBrain:
    trainer: imitation
    max_steps: 10000
    summary_freq: 1000
    brain_to_imitate: TeacherBrain
    batch_size: 16
    batches_per_epoch: 5
    num_layers: 4
    hidden_units: 64
    use_recurrent: true
    sequence_length: 32
    buffer_size: 128