# This can reach 9k reward in 2 hours on a Titan XP GPU
# with 16 workers and 8 envs per worker.
halfcheetah-appo:
    env: HalfCheetah-v2
    run: APPO
    stop:
        time_total_s: 10800
    config:
        # Works for both torch and tf.
        framework: tf
        vtrace: True
        gamma: 0.99
        lambda: 0.95
        rollout_fragment_length: 512
        train_batch_size: 4096
        num_workers: 16
        num_gpus: 1
        broadcast_interval: 1
        max_sample_requests_in_flight_per_worker: 1
        num_multi_gpu_tower_stacks: 1
        num_envs_per_worker: 32
        minibatch_buffer_size: 16
        num_sgd_iter: 32
        clip_param: 0.2
        lr_schedule: [
            [0, 0.0005],
            [150000000, 0.000001],
        ]
        vf_loss_coeff: 0.5
        entropy_coeff: 0.01
        grad_clip: 0.5
        batch_mode: truncate_episodes
        use_kl_loss: True
        kl_coeff: 1.0
        kl_target: 0.04
        observation_filter: MeanStdFilter