# Stable baselines algorithm parameters

PPO2:
  Default:
    n_steps : 128
    nminibatches : 32
    lam: 0.95
    gamma: 0.99
    ent_coef: 0.01
    noptepochs: 4
    learning_rate: 0.00025
    cliprange: 0.2

  Ant-v2:
    n_steps : 2048
    nminibatches : 64
    lam : 0.95
    gamma : 0.99
    ent_coef : 0.0
    noptepochs : 10
    learning_rate : 0.00025
    cliprange : 0.2

  AntPyBulletEnv-v0:
    n_steps: 2048
    nminibatches: 64
    lam: 0.95
    gamma: 0.99
    ent_coef: 0.01
    noptepochs: 10
    learning_rate: 0.00025
    cliprange: 0.2

  AntModifiedBulletEnv-v0:
    n_steps: 2048
    nminibatches: 64
    lam: 0.95
    gamma: 0.99
    ent_coef: 0.01
    noptepochs: 10
    learning_rate: 0.00025
    cliprange: 0.2

  InvertedPendulum-v2:
    n_steps : 2048
    nminibatches : 32
    lam : 0.95
    gamma : 0.99
    ent_coef : 0.0
    noptepochs : 10
    learning_rate : 0.00025
    cliprange : 0.2

  InvertedPendulumPyBulletEnv-v0:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    ent_coef: 0.0
    noptepochs: 10
    learning_rate: 0.00025
    cliprange: 0.2

  InvertedDoublePendulum-v2:
    n_steps : 2048
    lam : 0.95
    gamma : 0.99
    noptepochs : 10
    nminibatches : 32
    ent_coef : 0.0
    learning_rate : 0.00025
    cliprange : 0.2

  InvertedDoublePendulumPyBulletEnv-v0:
    n_steps: 2048
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    nminibatches: 32
    ent_coef: 0.0
    learning_rate: 0.00025
    cliprange: 0.2

  HalfCheetah-v2:
    n_steps : 2048
    nminibatches : 64
    lam : 0.95
    gamma : 0.99
    noptepochs : 10
    ent_coef : 0.0
    learning_rate : 0.0003
    cliprange : 0.2

  HalfCheetahPyBulletEnv-v0:
    n_steps : 2048
    nminibatches : 32
    lam : 0.95
    gamma : 0.99
    noptepochs : 10
    ent_coef : 0.0
    learning_rate : 0.0003
    cliprange : 0.2

  BipedalWalker-v2:
    n_steps : 2048
    nminibatches : 64
    lam : 0.95
    gamma : 0.99
    noptepochs : 10
    ent_coef : 0.001
    learning_rate : 0.00025
    cliprange : 0.2

  Hopper-v2:
    n_steps: 256
    nminibatches: 16
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.01
    learning_rate: 0.00025
    cliprange: 0.2

  HopperPyBulletEnv-v0:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.00
    learning_rate: 0.00025
    cliprange: 0.2

  Reacher-v2:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.0
    learning_rate: 0.00025
    cliprange: 0.2

  ReacherPyBulletEnv-v0:
    n_steps: 2048
    nminibatches: 64
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.0
    learning_rate: 0.00025
    cliprange: 0.2

  MinitaurBulletEnv-v0:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.01
    learning_rate: 0.00025
    cliprange: 0.2

  MinitaurRealBulletEnv-v0:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.01
    learning_rate: 0.00025
    cliprange: 0.2

  MinitaurInaccurateMotorBulletEnv-v0:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.01
    learning_rate: 0.00025
    cliprange: 0.2

  HumanoidPyBulletEnv-v0:
    n_steps: 2048
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.0
    learning_rate: 0.00025
    cliprange: 0.2

  Walker2DPyBulletEnv-v0:
    n_steps: 1024
    nminibatches: 32
    lam: 0.95
    gamma: 0.99
    noptepochs: 10
    ent_coef: 0.0
    learning_rate: 0.00025
    cliprange: 0.1


TRPO :
  InvertedPendulum-v2:
    timesteps_per_batch: 5000
    lam: 0.9
    gamma: 0.98
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters : 10
    vf_stepsize : 0.00428
    learning_rate: 0.0004
    cg_damping : 0.000235
    cg_iters : 20

  Humanoid-v2:
    timesteps_per_batch: 2048
    lam: 0.98
    gamma: 0.99
    max_kl: 0.005
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.003
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 15

  Hopper-v2:
    timesteps_per_batch: 5000
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 20

  HopperArmatureModified-v2:
    timesteps_per_batch: 5000
    lam: 0.97
    gamma: 0.995
    max_kl: 0.003
    entcoeff: 0.0
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 20

  MinitaurBulletEnv-v0:
    timesteps_per_batch: 2048
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0025
    cg_damping: 0.1
    cg_iters: 20

  AntPyBulletEnv-v0:
    timesteps_per_batch: 2048
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0025
    cg_damping: 0.1
    cg_iters: 20

  AntModifiedBulletEnv-v0:
    timesteps_per_batch: 2048
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0025
    cg_damping: 0.1
    cg_iters: 20

  MinitaurRealBulletEnv-v0:
    timesteps_per_batch: 2048
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0025
    cg_damping: 0.1
    cg_iters: 20

  MinitaurInaccurateMotorBulletEnv-v0:
    timesteps_per_batch: 2048
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0025
    cg_damping: 0.1
    cg_iters: 20

  DartHopper-v1:
    timesteps_per_batch: 5000
    lam: 0.97
    gamma: 0.995
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 20

  Ant-v2:
    timesteps_per_batch: 5000
    lam: 0.95
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 20

  Walker2d-v2:
    timesteps_per_batch: 5000
    lam: 0.98
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.01
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 20

  LunarLander-v2:
    timesteps_per_batch: 1024
    lam: 0.98
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters : 5
    vf_stepsize : 0.001
    learning_rate: 0.0004
    cg_damping : 0.1
    cg_iters : 10

  # All data below has not been updated yet
  # Update the values from here : https://github.com/araffin/rl-baselines-zoo/blob/master/hyperparams/trpo.yml
  InvertedDoublePendulum-v2:
    timesteps_per_batch: 1024
    lam: 0.98
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters: 5
    vf_stepsize: 0.0003
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 15

  HalfCheetah-v2:
    timesteps_per_batch: 2048
    lam: 0.95
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters: 5
    vf_stepsize: 0.001
    learning_rate: 0.0004
    cg_damping: 0.1
    cg_iters: 15

  BipedalWalker-v2:
    timesteps_per_batch: 1024
    lam: 0.98
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters: 3
    vf_stepsize: 0.0003
    learning_rate: 0.0004
    cg_damping: 0.01
    cg_iters: 10

  Reacher-v2:
    timesteps_per_batch: 1024
    lam: 0.98
    gamma: 0.99
    max_kl: 0.01
    entcoeff: 0.0
    vf_iters: 3
    vf_stepsize: 0.0003
    learning_rate: 0.0004
    cg_damping: 0.01
    cg_iters: 10

SAC:
  InvertedPendulum-v2:
    batch_size: 64
    buffer_size: 50000
    ent_coef: 0.2
    learning_rate: 0.003
    learning_starts: 1000
    train_freq: 1

  MinitaurBulletEnv-v0:
    batch_size: 256
    buffer_size: 1000000
    ent_coef: 'auto'
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 1000
    train_freq: 1

  Hopper-v2:
    batch_size: 256
    buffer_size: 1000000
    ent_coef: 'auto'
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 1000
    train_freq: 1

  HalfCheetah-v2:
    batch_size: 256
    buffer_size: 1000000
    ent_coef: 'auto'
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 10000
    train_freq: 1

  Walker2d-v2:
    batch_size: 256
    buffer_size: 1000000
    ent_coef: 0.01
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 1000
    train_freq: 1

  Humanoid-v2:
    batch_size: 64
    buffer_size: 1000000
    ent_coef: 0.01
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 1000
    train_freq: 1

  Reacher-v2:
    batch_size: 64
    buffer_size: 1000000
    ent_coef: 0.01
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 1000
    train_freq: 1

  InvertedDoublePendulum-v2:
    batch_size: 64
    buffer_size: 1000000
    ent_coef: 0.01
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 1000
    train_freq: 1

  Ant-v2:
    batch_size: 256
    buffer_size: 1000000
    ent_coef: 'auto'
    gradient_steps: 1
    learning_rate: 0.0003
    learning_starts: 10000
    train_freq: 1

TD3:
  Ant-v2:
    batch_size : 100
    buffer_size : 1000000
    gamma : 0.99
    gradient_steps : 1000
    learning_rate : 0.001
    learning_starts : 10000
    noise_std : 0.2
    noise_type : 'normal'
    train_freq : 1000

  HalfCheetah-v2:
    batch_size: 100
    buffer_size: 1000000
    gamma: 0.99
    gradient_steps: 1
    learning_rate: 0.001
    learning_starts: 10000
    noise_std: 0.1
    noise_type: 'normal'
    train_freq: 1

  Hopper-v2:
    batch_size: 100
    buffer_size: 1000000
    gamma: 0.99
    gradient_steps: 1000
    learning_rate: 0.001
    learning_starts: 10000
    noise_std: 0.2
    noise_type: 'normal'
    train_freq: 1000

  InvertedDoublePendulum-v2:
    batch_size: 100
    buffer_size: 1000000
    gamma: 0.99
    gradient_steps: 1000
    learning_rate: 0.001
    learning_starts: 10000
    noise_std: 0.1
    noise_type: 'normal'
    train_freq: 1000

  InvertedPendulum-v2:
    batch_size: 100
    buffer_size: 100000
    gamma: 0.99
    gradient_steps: 1000
    learning_rate: 0.001
    learning_starts: 1000
    noise_std: 0.1
    noise_type: 'normal'
    train_freq: 1000

  Reacher-v2:
    batch_size: 100
    buffer_size: 1000000
    gamma: 0.99
    gradient_steps: 1000
    learning_rate: 0.001
    learning_starts: 10000
    noise_std: 0.1
    noise_type: 'normal'
    train_freq: 1000

  Walker2d-v2:
    batch_size: 100
    buffer_size: 1000000
    gamma: 0.99
    gradient_steps: 1000
    learning_rate: 0.0005
    learning_starts: 10000
    noise_std: 0.1
    noise_type: 'normal'
    train_freq: 1000



