# Copyright (c) 2021 Horizon Robotics and ALF Contributors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from functools import partial
import alf
from alf.algorithms.actor_critic_algorithm import ActorCriticAlgorithm

# configure which RL algorithm to use
alf.config(
    'TrainerConfig',
    algorithm_ctor=partial(
        ActorCriticAlgorithm, optimizer=alf.optimizers.Adam(lr=1e-3)),
    num_iterations=1)
