# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Adapted from rsl_rl config
seed: 42
n_timesteps: !!float 5e7
policy: 'MlpPolicy'
n_steps: 24
n_minibatches: 4  # batch_size=24576 for n_envs=4096 and n_steps=24
gae_lambda: 0.95
gamma: 0.99
n_epochs: 5
ent_coef: 0.005
learning_rate: !!float 1e-3
clip_range: !!float 0.2
policy_kwargs: "dict(
                  activation_fn=nn.ELU,
                  net_arch=[512, 256, 128],
                  optimizer_kwargs=dict(eps=1e-8),
                  ortho_init=False,
                )"
vf_coef: 1.0
max_grad_norm: 1.0
normalize_input: True
normalize_value: False
clip_obs: 10.0
