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