| Networks | Number | Network structure |
| Actor of agent 1 | 2 | fc1 (state_dim, 256), relu fc2 (256, 128), relu fc3 (128, action_dim), sigmoid |
| Critic of agent 1 | 4 | fc1 (state_action_dim, 256), relu fc2 (256, 128), relu fc3 (128, 1) |
| Actor of agent 2 | 2 | fc1 (state_dim, 256), relu fc2 (256, 128), relu fc3 (128, action_dim), softmax |
| Critic of agent 2 | 4 | fc1 (state_action_dim, 256), relu fc2 (256, 128), relu fc3 (128, 1) |
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