{
    "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
    }
}