from easydict import EasyDict

pendulum_cql_default_config = dict(
    seed=0,
    env=dict(
        collector_env_num=1,
        evaluator_env_num=5,
        act_scale=True,
        n_evaluator_episode=5,
        stop_value=-250,
    ),
    policy=dict(
        cuda=True,
        model=dict(
            obs_shape=3,
            action_shape=1,
            twin_critic=True,
            action_space='reparameterization',
            actor_head_hidden_size=128,
            critic_head_hidden_size=128,
        ),
        learn=dict(
            train_epoch=30000,
            batch_size=128,
            learning_rate_q=3e-4,
            learning_rate_policy=1e-3,
            learning_rate_alpha=1e-3,
            ignore_done=True,
            target_theta=0.005,
            discount_factor=0.99,
            alpha=0.2,
            auto_alpha=True,
            lagrange_thresh=-1.0,
            min_q_weight=5.0,
        ),
        collect=dict(
            n_sample=1,
            unroll_len=1,
            data_type='hdf5',
            data_path='./peudulum_sac_generation_seed0/expert_demos.hdf5',  # user-specific
        ),
        command=dict(),
        eval=dict(evaluator=dict(eval_freq=100, )),
        other=dict(replay_buffer=dict(replay_buffer_size=100000, ), ),
    ),
)

pendulum_cql_default_config = EasyDict(pendulum_cql_default_config)
main_config = pendulum_cql_default_config

pendulum_cql_default_create_config = dict(
    env=dict(
        type='pendulum',
        import_names=['dizoo.classic_control.pendulum.envs.pendulum_env'],
    ),
    env_manager=dict(type='base'),
    policy=dict(
        type='cql',
        import_names=['ding.policy.cql'],
    ),
)
pendulum_cql_default_create_config = EasyDict(pendulum_cql_default_create_config)
create_config = pendulum_cql_default_create_config