humanoid-ppo-gae:
    env: Humanoid-v1
    run: PPO
    stop:
        episode_reward_mean: 6000
    config:
        gamma: 0.995
        lambda: 0.95
        clip_param: 0.2
        kl_coeff: 1.0
        num_sgd_iter: 20
        sgd_stepsize: .0001
        sgd_batchsize: 32768
        horizon: 5000
        timesteps_per_batch: 320000
        model:
            free_log_std: true
        num_workers: 64
        num_gpus: 4
