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: normalize: true max_steps: 5.0e7 learning_rate_schedule: constant batch_size: 1024 buffer_size: 10240 hidden_units: 256 time_horizon: 1000 self_play: window: 10 play_against_current_best_ratio: 0.5 save_steps: 50000 swap_steps: 50000 team_change: 100000 Goalie: 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: 100 play_against_current_best_ratio: 0.2 save_steps: 50000 swap_steps: 25000 team_change: 200000 Striker: 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: 100 play_against_current_best_ratio: 0.2 save_steps: 50000 swap_steps: 100000 team_change: 200000 SoccerTwos: 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: 100 play_against_current_best_ratio: 0.2 save_steps: 50000 swap_steps: 100000 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 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