params:
  seed: 12344

  # environment wrapper clipping
  env:
    clip_observations: 5.0
    clip_actions: 1.0

  algo:
    name: sac

  model:
    name: soft_actor_critic

  network:
    name: soft_actor_critic
    separate: True
    space:
      continuous:
        mu_activation: None
        sigma_activation: None

        mu_init:
          name: default
        sigma_init:
          name: const_initializer
          val: 0
        fixed_sigma: True
    mlp:
      units: [32, 32]
      activation: elu
      d2rl: False

      initializer:
        name: default
      regularizer:
        name: None

    log_std_bounds: [-5, 2]

  load_checkpoint: False # flag which sets whether to load the checkpoint
  load_path: '' # path to the checkpoint to load

  config:
    name: cartpole
    env_name: rlgpu
    device: 'cuda:0'
    device_name: 'cuda:0'
    multi_gpu: False
    # ppo: True
    mixed_precision: False
    normalize_input: True
    normalize_value: True
    num_actors: -1
    reward_shaper:
      scale_value: 0.1
    normalize_advantage: True
    gamma: 0.99
    tau: 0.95
    learning_rate: 3e-4
    lr_schedule: adaptive
    kl_threshold: 0.008
    score_to_win: 20000
    max_epochs: 65
    save_best_after: 50
    save_frequency: 25
    grad_norm: 1.0
    entropy_coef: 0.0
    truncate_grads: True
    e_clip: 0.2
    horizon_length: 16
    batch_size: 8192
    mini_epochs: 8
    critic_coef: 4
    clip_value: True
    seq_len: 4
    bounds_loss_coef: 0.0001

    num_seed_steps: 5
    num_steps_per_episode: 16
    critic_tau: 0.005
    init_alpha: 1
    learnable_temperature: True
    replay_buffer_size: 1000000
    actor_lr: 0.0005
    critic_lr: 0.0005
    alpha_lr: 0.005
