def METHOD_NAME(cls, **kwargs) -> nn.Module:
    sensors = cls.get_sensors()
    return BabyAIRecurrentACModel(
        action_space=gym.spaces.Discrete(len(BabyAITask.class_action_names())),
        observation_space=SensorSuite(sensors).observation_spaces,
        use_instr=cls.USE_INSTR,
        use_memory=True,
        arch=cls.ARCH,
        instr_dim=256,
        lang_model="attgru",
        memory_dim=2048,
        include_auxiliary_head=cls.INCLUDE_AUXILIARY_HEAD,
    )