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index 5f9470c8e1a5b42aeb02f6ac8345a6f00e7de338..0056a38d2c627ebf52c0a27f3ade34b9751bf4f7 100644
--- a/results/tau_agent_ppo_A1_2M/configuration.yaml
+++ b/results/tau_agent_D1_10M/configuration.yaml
@@ -3,25 +3,25 @@ behaviors:
   TauAgent:
     trainer_type: ppo
     hyperparameters:
-      batch_size: 256
+      batch_size: 512
       buffer_size: 4096
       learning_rate: 3.0e-05
       beta: 0.005
       epsilon: 0.2
       lambd: 0.95
-      num_epoch: 7
+      num_epoch: 3
       shared_critic: false
       learning_rate_schedule: linear
       beta_schedule: linear
       epsilon_schedule: linear
-    checkpoint_interval: 100000
+    checkpoint_interval: 1000000
     network_settings:
       normalize: true
       hidden_units: 256
       num_layers: 4
       vis_encode_type: simple
       memory:
-        sequence_length: 256
+        sequence_length: 128
         memory_size: 256
       goal_conditioning_type: hyper
       deterministic: false
@@ -30,11 +30,13 @@ behaviors:
         gamma: 0.99
         strength: 1.0
         network_settings:
-          normalize: false
-          hidden_units: 128
-          num_layers: 2
+          normalize: true
+          hidden_units: 256
+          num_layers: 4
           vis_encode_type: simple
-          memory: null
+          memory:
+            sequence_length: 128
+            memory_size: 256
           goal_conditioning_type: hyper
           deterministic: false
       curiosity:
@@ -48,14 +50,14 @@ behaviors:
           memory: null
           goal_conditioning_type: hyper
           deterministic: false
-        learning_rate: 0.0003
+        learning_rate: 3.0e-05
         encoding_size: null
     init_path: null
     keep_checkpoints: 10
-    even_checkpoints: false
-    max_steps: 2000000
-    time_horizon: 256
-    summary_freq: 10000
+    even_checkpoints: true
+    max_steps: 10000000
+    time_horizon: 512
+    summary_freq: 100000
     threaded: true
     self_play: null
     behavioral_cloning: null
@@ -80,7 +82,7 @@ engine_settings:
   no_graphics: false
 environment_parameters: null
 checkpoint_settings:
-  run_id: tau_agent_ppo_A1
+  run_id: tau_agent_D1
   initialize_from: null
   load_model: false
   resume: false
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diff --git a/results/tau_agent_ppo_A2_2M/configuration.yaml b/results/tau_agent_D2_20M/configuration.yaml
similarity index 77%
rename from results/tau_agent_ppo_A2_2M/configuration.yaml
rename to results/tau_agent_D2_20M/configuration.yaml
index 7577b6d6770385d916bf77c957c981aaa015be1a..2859c0c9a95b8be47172a473fb92f386facab808 100644
--- a/results/tau_agent_ppo_A2_2M/configuration.yaml
+++ b/results/tau_agent_D2_20M/configuration.yaml
@@ -3,25 +3,25 @@ behaviors:
   TauAgent:
     trainer_type: ppo
     hyperparameters:
-      batch_size: 256
+      batch_size: 512
       buffer_size: 4096
       learning_rate: 3.0e-05
       beta: 0.005
       epsilon: 0.2
       lambd: 0.95
-      num_epoch: 7
+      num_epoch: 3
       shared_critic: false
       learning_rate_schedule: linear
       beta_schedule: linear
       epsilon_schedule: linear
-    checkpoint_interval: 100000
+    checkpoint_interval: 1000000
     network_settings:
       normalize: true
       hidden_units: 256
       num_layers: 4
       vis_encode_type: simple
       memory:
-        sequence_length: 256
+        sequence_length: 128
         memory_size: 256
       goal_conditioning_type: hyper
       deterministic: false
@@ -30,11 +30,13 @@ behaviors:
         gamma: 0.99
         strength: 1.0
         network_settings:
-          normalize: false
-          hidden_units: 128
-          num_layers: 2
+          normalize: true
+          hidden_units: 256
+          num_layers: 4
           vis_encode_type: simple
-          memory: null
+          memory:
+            sequence_length: 128
+            memory_size: 256
           goal_conditioning_type: hyper
           deterministic: false
       curiosity:
@@ -48,14 +50,14 @@ behaviors:
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           goal_conditioning_type: hyper
           deterministic: false
-        learning_rate: 0.0003
+        learning_rate: 3.0e-05
         encoding_size: null
-    init_path: null
+    init_path: results\tau_agent_D1\TauAgent\checkpoint.pt
     keep_checkpoints: 10
-    even_checkpoints: false
-    max_steps: 2000000
-    time_horizon: 256
-    summary_freq: 10000
+    even_checkpoints: true
+    max_steps: 10000000
+    time_horizon: 512
+    summary_freq: 100000
     threaded: true
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     behavioral_cloning: null
@@ -80,8 +82,8 @@ engine_settings:
   no_graphics: false
 environment_parameters: null
 checkpoint_settings:
-  run_id: tau_agent_ppo_A2
-  initialize_from: null
+  run_id: tau_agent_D2
+  initialize_from: tau_agent_D1
   load_model: false
   resume: false
   force: true
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