{
    "train": {
        "project": "LunarLanderContinuous-v2-QGPO-VPSDE",
        "device": "cuda",
        "wandb": {
            "project": "IQL-LunarLanderContinuous-v2-QGPO-VPSDE"
        },
        "simulator": {
            "type": "GymEnvSimulator",
            "args": {
                "env_id": "LunarLanderContinuous-v2"
            }
        },
        "model": {
            "QGPOPolicy": {
                "device": "cuda",
                "critic": {
                    "device": "cuda",
                    "q_alpha": 1.0,
                    "DoubleQNetwork": {
                        "backbone": {
                            "type": "ConcatenateMLP",
                            "args": {
                                "hidden_sizes": [
                                    10,
                                    256,
                                    256
                                ],
                                "output_size": 1,
                                "activation": "relu"
                            }
                        }
                    }
                },
                "diffusion_model": {
                    "device": "cuda",
                    "x_size": 2,
                    "alpha": 1.0,
                    "solver": {
                        "type": "DPMSolver",
                        "args": {
                            "order": 2,
                            "device": "cuda",
                            "steps": 17
                        }
                    },
                    "path": {
                        "type": "linear_vp_sde",
                        "beta_0": 0.1,
                        "beta_1": 20.0
                    },
                    "reverse_path": {
                        "type": "linear_vp_sde",
                        "beta_0": 0.1,
                        "beta_1": 20.0
                    },
                    "model": {
                        "type": "noise_function",
                        "args": {
                            "t_encoder": {
                                "type": "GaussianFourierProjectionTimeEncoder",
                                "args": {
                                    "embed_dim": 32,
                                    "scale": 30.0
                                }
                            },
                            "backbone": {
                                "type": "TemporalSpatialResidualNet",
                                "args": {
                                    "hidden_sizes": [
                                        512,
                                        256,
                                        128
                                    ],
                                    "output_dim": 2,
                                    "t_dim": 32,
                                    "condition_dim": 8,
                                    "condition_hidden_dim": 32,
                                    "t_condition_hidden_dim": 128
                                }
                            }
                        }
                    },
                    "energy_guidance": {
                        "t_encoder": {
                            "type": "GaussianFourierProjectionTimeEncoder",
                            "args": {
                                "embed_dim": 32,
                                "scale": 30.0
                            }
                        },
                        "backbone": {
                            "type": "ConcatenateMLP",
                            "args": {
                                "hidden_sizes": [
                                    42,
                                    256,
                                    256
                                ],
                                "output_size": 1,
                                "activation": "silu"
                            }
                        }
                    }
                }
            }
        },
        "parameter": {
            "behaviour_policy": {
                "batch_size": 1024,
                "learning_rate": 0.0001,
                "epochs": 500
            },
            "action_augment_num": 16,
            "fake_data_t_span": null,
            "energy_guided_policy": {
                "batch_size": 256
            },
            "critic": {
                "stop_training_epochs": 500,
                "learning_rate": 0.0001,
                "discount_factor": 0.99,
                "update_momentum": 0.005
            },
            "energy_guidance": {
                "epochs": 1000,
                "learning_rate": 0.0001
            },
            "evaluation": {
                "evaluation_interval": 50,
                "guidance_scale": [
                    0.0,
                    1.0,
                    2.0
                ]
            },
            "checkpoint_path": "./LunarLanderContinuous-v2-QGPO"
        }
    },
    "deploy": {
        "device": "cuda",
        "env": {
            "env_id": "LunarLanderContinuous-v2",
            "seed": 0
        },
        "num_deploy_steps": 1000,
        "t_span": null
    }
}