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 "out": "outputs/rl_pilot",
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 "envs": 10,
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 "train_seed": 7700003,
 "val_seed": 9300003,
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 "seconds": 20.0,
 "lr": 3e-07,
 "sigma_lr": 0.003,
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 "sigma_start": 0.2,
 "sigma_end": 0.002,
 "learn_sigma": false,
 "expert_bf16": false,
 "gamma": 0.99,
 "lam": 0.95,
 "clip": 0.2,
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 "minibatch": 8,
 "target_kl": 0.02,
 "vf_coef": 0.5,
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 "torch_threads": 2,
 "reward": {
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  "disturbed": -0.5,
  "toppled": -0.3
 }
}