"""CQL configuration for D4RL mujoco locomotion"""

import base_config


def get_config():
    config = base_config.get_base_config()

    config.eval_episodes = 100

    config.actor_lr = 1e-4
    config.value_lr = 3e-4
    config.critic_lr = 3e-4

    config.policy_dims = (256, 256, 256)
    config.critic_dims = (256, 256, 256)

    config.discount = 0.99

    config.tau = 0.005  # For soft target updates.
    config.init_alpha = 1.0
    config.num_bc_steps = int(10e3)
    config.softmax_temperature = 1.0
    config.cql_alpha = 5.0
    config.max_q_backup = False
    config.deterministic_backup = True
    config.num_cql_samples = 10
    config.with_lagrange = True
    config.target_action_gap = 5.0

    return config
