| behaviors: | |
| Huggy: | |
| trainer_type: ppo | |
| hyperparameters: | |
| batch_size: 2048 | |
| buffer_size: 20480 | |
| learning_rate: 0.0003 | |
| beta: 0.005 | |
| epsilon: 0.2 | |
| lambd: 0.95 | |
| num_epoch: 3 | |
| learning_rate_schedule: linear | |
| network_settings: | |
| normalize: true | |
| hidden_units: 512 | |
| num_layers: 3 | |
| vis_encode_type: simple | |
| reward_signals: | |
| extrinsic: | |
| gamma: 0.995 | |
| strength: 1.0 | |
| checkpoint_interval: 200000 | |
| keep_checkpoints: 15 | |
| max_steps: 2e6 | |
| time_horizon: 1000 | |
| summary_freq: 50000 |