CartPole-v1: &cartpole-defaults
  n_timesteps: !!float 5e5
  env_hyperparams:
    n_envs: 8

CartPole-v0:
  <<: *cartpole-defaults

MountainCar-v0:
  n_timesteps: !!float 1e6
  env_hyperparams:
    n_envs: 16
    normalize: true

MountainCarContinuous-v0:
  n_timesteps: !!float 1e5
  env_hyperparams:
    n_envs: 4
    normalize: true
  # policy_hyperparams:
  #   use_sde: true
  #   log_std_init: 0.0
  #   init_layers_orthogonal: false
  algo_hyperparams:
    n_steps: 100
    sde_sample_freq: 16

Acrobot-v1:
  n_timesteps: !!float 5e5
  env_hyperparams:
    normalize: true
    n_envs: 16

# Tuned
LunarLander-v2:
  device: cpu
  n_timesteps: !!float 1e6
  env_hyperparams:
    n_envs: 4
    normalize: true
  algo_hyperparams:
    n_steps: 2
    gamma: 0.9955517404308908
    gae_lambda: 0.9875340918797773
    learning_rate: 0.0013814130817068916
    learning_rate_decay: linear
    ent_coef: !!float 3.388369146384422e-7
    ent_coef_decay: none
    max_grad_norm: 3.33982095073364
    normalize_advantage: true
    vf_coef: 0.1667838310548184

BipedalWalker-v3:
  n_timesteps: !!float 5e6
  env_hyperparams:
    n_envs: 16
    normalize: true
  policy_hyperparams:
    use_sde: true
    log_std_init: -2
    init_layers_orthogonal: false
  algo_hyperparams:
    ent_coef: 0
    max_grad_norm: 0.5
    n_steps: 8
    gae_lambda: 0.9
    vf_coef: 0.4
    gamma: 0.99
    learning_rate: !!float 9.6e-4
    learning_rate_decay: linear

HalfCheetahBulletEnv-v0: &pybullet-defaults
  n_timesteps: !!float 2e6
  env_hyperparams:
    n_envs: 4
    normalize: true
  policy_hyperparams:
    use_sde: true
    log_std_init: -2
    init_layers_orthogonal: false
  algo_hyperparams: &pybullet-algo-defaults
    n_steps: 8
    ent_coef: 0
    max_grad_norm: 0.5
    gae_lambda: 0.9
    gamma: 0.99
    vf_coef: 0.4
    learning_rate: !!float 9.6e-4
    learning_rate_decay: linear

AntBulletEnv-v0:
  <<: *pybullet-defaults

Walker2DBulletEnv-v0:
  <<: *pybullet-defaults

HopperBulletEnv-v0:
  <<: *pybullet-defaults

# Tuned
CarRacing-v0:
  n_timesteps: !!float 4e6
  env_hyperparams:
    n_envs: 4
    frame_stack: 4
    normalize: true
    normalize_kwargs:
      norm_obs: false
      norm_reward: true
  policy_hyperparams:
    use_sde: true
    log_std_init: -4.839609092563
    init_layers_orthogonal: true
    activation_fn: tanh
    share_features_extractor: false
    cnn_flatten_dim: 256
    hidden_sizes: [256]
  algo_hyperparams:
    n_steps: 64
    learning_rate: 0.000018971962220405576
    gamma: 0.9942776405534832
    gae_lambda: 0.9549244758833236
    ent_coef: 0.0000015666550584860516
    ent_coef_decay: linear
    vf_coef: 0.12164696385898476
    max_grad_norm: 2.2574480552177127
    normalize_advantage: false
    use_rms_prop: false
    sde_sample_freq: 16

_atari: &atari-defaults
  n_timesteps: !!float 1e7
  env_hyperparams: &atari-env-defaults
    n_envs: 16
    frame_stack: 4
    no_reward_timeout_steps: 1000
    no_reward_fire_steps: 500
    vec_env_class: async
  policy_hyperparams: &atari-policy-defaults
    activation_fn: relu
  algo_hyperparams:
    ent_coef: 0.01
    vf_coef: 0.25