new ppo conf

rl/train_ppo_new.yaml

+algo: PPO
+seed: 42
+torch_deterministic: true
+
+model:
+  hidden_sizes: [64,64]
+  use_lstm: False
+  act_limit: 1.0
+
+params:
+  learning_rate: 0.0003
+  anneal_lr: true
+  ent_coef: 0.0
+  gae: true
+  gae_lambda: 0.95
+  gamma: 0.99
+  max_grad_norm: 0.5
+  norm_adv: true
+  target_kl: null
+  vf_coef: 0.5
+  clip_coef: 0.2
+  clip_vloss: true
+
+env:
+  path: ../simulations/rc_car_foyer_track
+  num_envs: 4
+  num_stacked_obs: 4
+  num_features: 2
+
+train:
+  total_steps: 2000000
+  num_steps: 1024
+  num_minibatches: 32
+  update_epochs: 10