| name: domain_randomized | |
| privileged_contract_context: none | |
| sample_training_contract_per_episode: true | |
| history: none | |
| actor_hidden_dim: 256 | |
| critic_hidden_dim: 256 | |
| ppo: | |
| learning_rate: 0.0003 | |
| rollout_steps: 32 | |
| epochs: 4 | |
| minibatch_size: 1024 | |
| clip_ratio: 0.2 | |