Algorithm 3: A3C Pseudocode 1: Set discount factor gamma 𝛾=0.99γ=0.99. 2: Set the global update interval 𝑡args_update_interval=5targs_update_interval=5. 3: Set the actor learning rate 𝛼actor=0.0005αactor=0.0005. 4: Set the critic learning rate 𝛼critic=0.001αcritic=0.001. ...