{
    "name": "FBcprAuxAgent",
    "model": {
        "name": "FBcprAuxModel",
        "device": "cuda",
        "archi": {
            "name": "FBcprAuxModelArchiConfig",
            "z_dim": 256,
            "norm_z": true,
            "f": {
                "name": "ForwardArchi",
                "hidden_dim": 2048,
                "model": "residual",
                "hidden_layers": 6,
                "embedding_layers": 2,
                "num_parallel": 2,
                "ensemble_mode": "batch",
                "input_filter": {
                    "name": "DictInputFilterConfig",
                    "key": [
                        "state",
                        "privileged_state",
                        "last_action",
                        "history_actor"
                    ]
                }
            },
            "b": {
                "name": "BackwardArchi",
                "hidden_dim": 256,
                "hidden_layers": 1,
                "norm": true,
                "input_filter": {
                    "name": "DictInputFilterConfig",
                    "key": [
                        "state",
                        "privileged_state"
                    ]
                }
            },
            "actor": {
                "name": "actor",
                "model": "residual",
                "hidden_dim": 2048,
                "hidden_layers": 6,
                "embedding_layers": 2,
                "input_filter": {
                    "name": "DictInputFilterConfig",
                    "key": [
                        "state",
                        "last_action",
                        "history_actor"
                    ]
                }
            },
            "critic": {
                "name": "ForwardArchi",
                "hidden_dim": 2048,
                "model": "residual",
                "hidden_layers": 6,
                "embedding_layers": 2,
                "num_parallel": 2,
                "ensemble_mode": "batch",
                "input_filter": {
                    "name": "DictInputFilterConfig",
                    "key": [
                        "state",
                        "privileged_state",
                        "last_action",
                        "history_actor"
                    ]
                }
            },
            "discriminator": {
                "name": "DiscriminatorArchi",
                "hidden_dim": 1024,
                "hidden_layers": 3,
                "input_filter": {
                    "name": "DictInputFilterConfig",
                    "key": [
                        "state",
                        "privileged_state"
                    ]
                }
            },
            "aux_critic": {
                "name": "ForwardArchi",
                "hidden_dim": 2048,
                "model": "residual",
                "hidden_layers": 6,
                "embedding_layers": 2,
                "num_parallel": 2,
                "ensemble_mode": "batch",
                "input_filter": {
                    "name": "DictInputFilterConfig",
                    "key": [
                        "state",
                        "privileged_state",
                        "last_action",
                        "history_actor"
                    ]
                }
            }
        },
        "obs_normalizer": {
            "name": "ObsNormalizerConfig",
            "normalizers": {
                "state": {
                    "name": "BatchNormNormalizerConfig",
                    "momentum": 0.01
                },
                "privileged_state": {
                    "name": "BatchNormNormalizerConfig",
                    "momentum": 0.01
                },
                "last_action": {
                    "name": "BatchNormNormalizerConfig",
                    "momentum": 0.01
                },
                "history_actor": {
                    "name": "BatchNormNormalizerConfig",
                    "momentum": 0.01
                }
            },
            "allow_mismatching_keys": true
        },
        "inference_batch_size": 500000,
        "seq_length": 8,
        "actor_std": 0.05,
        "amp": false,
        "norm_aux_reward": {
            "name": "RewardNormalizer",
            "translate": false,
            "scale": true
        }
    },
    "train": {
        "name": "FBcprAuxAgentTrainConfig",
        "lr_f": 0.0003,
        "lr_b": 1e-05,
        "lr_actor": 0.0003,
        "weight_decay": 0.0,
        "clip_grad_norm": 0.0,
        "fb_target_tau": 0.01,
        "ortho_coef": 100.0,
        "train_goal_ratio": 0.2,
        "fb_pessimism_penalty": 0.0,
        "actor_pessimism_penalty": 0.5,
        "stddev_clip": 0.3,
        "q_loss_coef": 0.0,
        "batch_size": 1024,
        "discount": 0.98,
        "use_mix_rollout": true,
        "update_z_every_step": 100,
        "z_buffer_size": 8192,
        "rollout_expert_trajectories": true,
        "rollout_expert_trajectories_length": 250,
        "rollout_expert_trajectories_percentage": 0.5,
        "lr_discriminator": 1e-05,
        "lr_critic": 0.0003,
        "critic_target_tau": 0.005,
        "critic_pessimism_penalty": 0.5,
        "reg_coeff": 0.05,
        "scale_reg": true,
        "expert_asm_ratio": 0.6,
        "relabel_ratio": 0.8,
        "grad_penalty_discriminator": 10.0,
        "weight_decay_discriminator": 0.0,
        "lr_aux_critic": 0.0003,
        "reg_coeff_aux": 0.02,
        "aux_critic_pessimism_penalty": 0.5
    },
    "aux_rewards": [
        "penalty_torques",
        "penalty_action_rate",
        "limits_dof_pos",
        "limits_torque",
        "penalty_undesired_contact",
        "penalty_feet_ori",
        "penalty_ankle_roll",
        "penalty_slippage"
    ],
    "aux_rewards_scaling": {
        "penalty_action_rate": -0.1,
        "penalty_feet_ori": -0.4,
        "penalty_ankle_roll": -4.0,
        "limits_dof_pos": -10.0,
        "penalty_slippage": -2.0,
        "penalty_undesired_contact": -1.0,
        "penalty_torques": 0.0,
        "limits_torque": 0.0
    },
    "cudagraphs": false,
    "compile": true
}