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trainer_config.yaml
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trainer_config.yaml
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behaviors:
SpeechRecognizer:
trainer_type: ppo
hyperparameters:
batch_size: 32
buffer_size: 320
learning_rate: 0.0003
beta: 0.005
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: false
hidden_units: 512
num_layers: 1
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.8
strength: 1.0
time_horizon: 10
max_steps: 30000
summary_freq: 1000
keep_checkpoints: 5
checkpoint_interval: 5000
threaded: true
CatLocalizer:
trainer_type: ppo
hyperparameters:
batch_size: 1024
buffer_size: 10240
learning_rate: 0.0003
beta: 0.005
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: false
hidden_units: 512
num_layers: 1
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.99
strength: 1.0
time_horizon: 20
max_steps: 200000
summary_freq: 1000
keep_checkpoints: 10
checkpoint_interval: 10000
threaded: true