WallJump_curriculum.yaml

behaviors:
  BigWallJump:
    trainer_type: ppo
    hyperparameters:
      batch_size: 128
      buffer_size: 2048
      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: 256
      num_layers: 2
      vis_encode_type: simple
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
    keep_checkpoints: 5
    max_steps: 20000000
    time_horizon: 128
    summary_freq: 20000
  SmallWallJump:
    trainer_type: ppo
    hyperparameters:
      batch_size: 128
      buffer_size: 2048
      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: 256
      num_layers: 2
      vis_encode_type: simple
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
    keep_checkpoints: 5
    max_steps: 5000000
    time_horizon: 128
    summary_freq: 20000
environment_parameters:
  big_wall_height:
    curriculum:
      - name: Lesson0 # The '-' is important as this is a list
        completion_criteria:
          measure: progress
          behavior: BigWallJump
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.1
        value:
          sampler_type: uniform
          sampler_parameters:
            min_value: 0.0
            max_value: 4.0
      - name: Lesson1 # This is the start of the second lesson
        completion_criteria:
          measure: progress
          behavior: BigWallJump
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.3
        value:
          sampler_type: uniform
          sampler_parameters:
            min_value: 4.0
            max_value: 7.0
      - name: Lesson2
        completion_criteria:
          measure: progress
          behavior: BigWallJump
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.5
        value:
          sampler_type: uniform
          sampler_parameters:
            min_value: 6.0
            max_value: 8.0
      - name: Lesson3
        value: 8.0
  small_wall_height:
    curriculum:
      - name: Lesson0
        completion_criteria:
          measure: progress
          behavior: SmallWallJump
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.1
        value: 1.5
      - name: Lesson1
        completion_criteria:
          measure: progress
          behavior: SmallWallJump
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.3
        value: 2.0
      - name: Lesson2
        completion_criteria:
          measure: progress
          behavior: SmallWallJump
          signal_smoothing: true
          min_lesson_length: 100
          threshold: 0.5
        value: 2.5
      - name: Lesson3
        value: 4.0