# Note: HalfCheetahBulletEnv-v0 is not the same as MuJoCo's HalfCheetah-v0.
ddpg-halfcheetahbulletenv-v0:
    env: HalfCheetahBulletEnv-v0
    run: DDPG
    stop:
        episode_reward_mean: -300.0
        timesteps_total: 200000
    config:
        actor_hiddens: [256, 256]
        critic_hiddens: [256, 256]
        n_step: 3
        model: {}
        gamma: 0.99
        env_config: {}
        exploration_config:
            initial_scale: 1.0
            final_scale: 0.02
            scale_timesteps: 10000
            ou_base_scale: 0.1
            ou_theta: 0.15
            ou_sigma: 0.2
        min_sample_timesteps_per_iteration: 1000
        target_network_update_freq: 0
        tau: 0.001
        replay_buffer_config:
          type: MultiAgentPrioritizedReplayBuffer
          capacity: 15000
          prioritized_replay_alpha: 0.6
          prioritized_replay_beta: 0.4
          prioritized_replay_eps: 0.000001
          worker_side_prioritization: false
        num_steps_sampled_before_learning_starts: 500
        clip_rewards: false
        actor_lr: 0.001
        critic_lr: 0.001
        use_huber: true
        huber_threshold: 1.0
        l2_reg: 0.000001
        rollout_fragment_length: 1
        train_batch_size: 48
        num_workers: 0
        num_gpus: 1
        num_gpus_per_worker: 0