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357 行
6.9 KiB
357 行
6.9 KiB
default:
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trainer: ppo
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batch_size: 1024
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beta: 5.0e-3
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buffer_size: 10240
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epsilon: 0.2
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hidden_units: 128
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lambd: 0.95
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learning_rate: 3.0e-4
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learning_rate_schedule: linear
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max_steps: 5.0e5
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memory_size: 128
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normalize: false
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num_epoch: 3
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num_layers: 2
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time_horizon: 64
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sequence_length: 64
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summary_freq: 10000
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use_recurrent: false
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vis_encode_type: simple
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.99
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FoodCollector:
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normalize: false
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beta: 5.0e-3
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batch_size: 1024
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buffer_size: 10240
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max_steps: 2.0e6
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Bouncer:
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normalize: true
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max_steps: 4.0e6
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num_layers: 2
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hidden_units: 64
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PushBlock:
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max_steps: 2.0e6
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batch_size: 128
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buffer_size: 2048
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beta: 1.0e-2
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hidden_units: 256
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summary_freq: 60000
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time_horizon: 64
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num_layers: 2
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SmallWallJump:
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max_steps: 5e6
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batch_size: 128
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buffer_size: 2048
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beta: 5.0e-3
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hidden_units: 256
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summary_freq: 20000
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time_horizon: 128
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num_layers: 2
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normalize: false
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BigWallJump:
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max_steps: 2e7
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batch_size: 128
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buffer_size: 2048
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beta: 5.0e-3
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hidden_units: 256
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summary_freq: 20000
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time_horizon: 128
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num_layers: 2
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normalize: false
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Pyramids:
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summary_freq: 30000
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time_horizon: 128
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batch_size: 128
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buffer_size: 2048
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hidden_units: 512
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num_layers: 2
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beta: 1.0e-2
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max_steps: 1.0e7
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num_epoch: 3
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.99
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curiosity:
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strength: 0.02
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gamma: 0.99
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encoding_size: 256
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VisualPyramids:
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time_horizon: 128
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batch_size: 64
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buffer_size: 2024
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hidden_units: 256
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num_layers: 1
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beta: 1.0e-2
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max_steps: 1.0e7
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num_epoch: 3
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.99
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curiosity:
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strength: 0.01
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gamma: 0.99
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encoding_size: 256
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3DBall:
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normalize: true
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batch_size: 64
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buffer_size: 12000
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summary_freq: 12000
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time_horizon: 1000
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lambd: 0.99
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beta: 0.001
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3DBallHard:
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normalize: true
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batch_size: 1200
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buffer_size: 12000
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summary_freq: 12000
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time_horizon: 1000
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max_steps: 5.0e6
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beta: 0.001
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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Tennis:
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normalize: true
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max_steps: 5.0e7
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learning_rate_schedule: constant
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batch_size: 1024
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buffer_size: 10240
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hidden_units: 256
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time_horizon: 1000
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self_play:
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window: 10
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play_against_latest_model_ratio: 0.5
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save_steps: 50000
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swap_steps: 50000
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team_change: 100000
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Soccer:
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normalize: false
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max_steps: 5.0e7
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learning_rate_schedule: constant
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batch_size: 2048
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buffer_size: 20480
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hidden_units: 512
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time_horizon: 1000
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num_layers: 2
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self_play:
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window: 10
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play_against_latest_model_ratio: 0.5
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save_steps: 50000
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swap_steps: 50000
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team_change: 100000
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CrawlerStatic:
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normalize: true
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num_epoch: 3
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time_horizon: 1000
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batch_size: 2024
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buffer_size: 20240
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max_steps: 1e7
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summary_freq: 30000
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num_layers: 3
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hidden_units: 512
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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CrawlerDynamic:
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normalize: true
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num_epoch: 3
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time_horizon: 1000
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batch_size: 2024
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buffer_size: 20240
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max_steps: 3.5e6
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# max_steps: 1e7
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summary_freq: 30000
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num_layers: 3
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hidden_units: 512
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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WormDynamic:
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normalize: true
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num_epoch: 3
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time_horizon: 1000
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batch_size: 2024
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buffer_size: 20240
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max_steps: 3.5e6
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summary_freq: 30000
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num_layers: 3
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hidden_units: 512
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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WormStatic:
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normalize: true
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num_epoch: 3
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time_horizon: 1000
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batch_size: 2024
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buffer_size: 20240
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max_steps: 3.5e6
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summary_freq: 30000
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num_layers: 3
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hidden_units: 512
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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WalkerDynamic:
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normalize: true
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# learning_rate_schedule: constant
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num_epoch: 10
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time_horizon: 1000
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batch_size: 2048
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buffer_size: 20480
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# batch_size: 24576 #2048
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# buffer_size: 245760 #20480
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max_steps: 2e7
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beta: 9.0e-3
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epsilon: 0.3
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# max_steps: 1e8
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summary_freq: 30000
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# learning_rate: 1.0e-3
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num_layers: 3
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hidden_units: 512
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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# WalkerDynamic:
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# normalize: true
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# num_epoch: 3
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# time_horizon: 1000
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# batch_size: 2048
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# buffer_size: 20480
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# max_steps: 2e7
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# summary_freq: 30000
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# num_layers: 3
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# hidden_units: 512
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# reward_signals:
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# extrinsic:
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# strength: 1.0
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# gamma: 0.995
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WalkerStatic:
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normalize: true
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num_epoch: 3
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time_horizon: 1000
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batch_size: 2048
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buffer_size: 20480
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max_steps: 2e7
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summary_freq: 30000
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num_layers: 3
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hidden_units: 512
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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Reacher:
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normalize: true
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num_epoch: 3
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time_horizon: 1000
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batch_size: 2024
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buffer_size: 20240
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max_steps: 2e7
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summary_freq: 60000
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.995
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Hallway:
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use_recurrent: true
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sequence_length: 64
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num_layers: 2
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hidden_units: 128
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memory_size: 128
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beta: 1.0e-2
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num_epoch: 3
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buffer_size: 1024
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batch_size: 128
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max_steps: 1.0e7
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summary_freq: 10000
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time_horizon: 64
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VisualHallway:
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use_recurrent: true
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sequence_length: 64
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num_layers: 1
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hidden_units: 128
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memory_size: 128
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beta: 1.0e-2
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num_epoch: 3
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buffer_size: 1024
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batch_size: 64
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max_steps: 1.0e7
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summary_freq: 10000
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time_horizon: 64
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VisualPushBlock:
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use_recurrent: true
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sequence_length: 32
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num_layers: 1
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hidden_units: 128
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memory_size: 128
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beta: 1.0e-2
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num_epoch: 3
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buffer_size: 1024
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batch_size: 64
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max_steps: 3.0e6
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summary_freq: 60000
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time_horizon: 64
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GridWorld:
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batch_size: 32
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normalize: false
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num_layers: 1
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hidden_units: 256
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beta: 5.0e-3
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buffer_size: 256
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max_steps: 500000
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summary_freq: 20000
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time_horizon: 5
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.9
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Basic:
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batch_size: 32
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normalize: false
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num_layers: 1
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hidden_units: 20
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beta: 5.0e-3
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buffer_size: 256
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max_steps: 5.0e5
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summary_freq: 2000
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time_horizon: 3
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reward_signals:
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extrinsic:
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strength: 1.0
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gamma: 0.9
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