# 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:
  activation_fn: 'nn.ELU'
  net_arch: [512, 256, 128]
  optimizer_kwargs:
    eps: !!float 1e-8
  ortho_init: False
vf_coef: 1.0
max_grad_norm: 1.0
normalize_input: True
normalize_value: False
clip_obs: 10.0
