# 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

params:
  seed: 0
  algo:
    name: a2c_continuous

  env:
    clip_actions: 1.0

  model:
    name: continuous_a2c_logstd

  network:
    name: actor_critic
    separate: False

    space:
      continuous:
        mu_activation: None
        sigma_activation: None
        mu_init:
          name: default
        sigma_init:
          name: const_initializer
          val: 0
        fixed_sigma: False
    mlp:
      units: [512, 128, 64]
      activation: elu
      d2rl: False

      initializer:
        name: default
      regularizer:
        name: None

    rnn:
      name: lstm
      units: 1024
      layers: 2
      before_mlp: True
      concat_input: True
      layer_norm: True

  load_checkpoint: False
  load_path: ""

  config:
    name: Forge
    device: cuda:0
    full_experiment_name: test
    env_name: rlgpu
    multi_gpu: False
    ppo: True
    mixed_precision: True
    normalize_input: True
    normalize_value: True
    value_bootstrap: True
    num_actors: 128
    reward_shaper:
      scale_value: 1.0
    normalize_advantage: True
    gamma: 0.995
    tau: 0.95
    learning_rate: 1.0e-4
    lr_schedule: adaptive
    schedule_type: standard
    kl_threshold: 0.008
    score_to_win: 20000
    max_epochs: 200
    save_best_after: 10
    save_frequency: 100
    print_stats: True
    grad_norm: 1.0
    entropy_coef: 0.0
    truncate_grads: True
    e_clip: 0.2
    horizon_length: 256
    minibatch_size: 512  # batch size = num_envs * horizon_length; minibatch_size = batch_size / num_minibatches
    mini_epochs: 4
    critic_coef: 2
    clip_value: True
    seq_length: 128
    bounds_loss_coef: 0.0001

    central_value_config:
      minibatch_size: 512
      mini_epochs: 4
      learning_rate: 1e-4
      lr_schedule: adaptive
      kl_threshold: 0.008
      clip_value: True
      normalize_input: True
      truncate_grads: True

      network:
        name: actor_critic
        central_value: True

        mlp:
          units: [512, 128, 64]
          activation: elu
          d2rl: False

          initializer:
            name: default
          regularizer:
            name: None

        rnn:
          name: lstm
          units: 1024
          layers: 2
          before_mlp: True
          concat_input: True
          layer_norm: True

    player:
      deterministic: False
