Training an agent

Before we can start training, we need to write a training configuration file. Open your terminal and go into any empty folder. Then, create a sphere.yaml file with the following code:

behaviors:
  MovingSphere:
    trainer_type: ppo
    hyperparameters:
      batch_size: 10
      buffer_size: 100
      learning_rate: 3.0e-4
      beta: 5.0e-4
      epsilon: 0.2
      lambd: 0.99
      num_epoch: 3
      learning_rate_schedule: linear
      beta_schedule: constant
      epsilon_schedule: linear
    network_settings:
      normalize: false
     ...