Table 2:

Selected MRPPO Hyperparameters.

Hyperparameter	Value
Environmental Steps, τ	4096
Epochs, E	5
Mini Batches, M	4
Discount Factor, γ	0.95
GAE Factor, λ	0.85
Clipping Parameter, ε	2 × 10−3
Value Function Coefficient, c1	0.5
Entropy Coefficient, c2	1 × 10−4
Learning Rate, lr	1 × 10−4
Maximum Gradient Norm, cmax	0.5