text: import math
  
  from rl_coach.agents.ddqn_agent import DDQNAgentParameters
  from rl_coach.architectures.head_parameters import DuelingQHeadParameters
  from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme
  from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
  from rl_coach.environments.carla_environment import CarlaEnvironmentParameters
  from rl_coach.filters.action.box_discretization import BoxDiscretization
  from rl_coach.filters.filter import OutputFilter
  from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
  from rl_coach.graph_managers.graph_manager import ScheduleParameters
  
  ####################
  # Graph Scheduling #
  ####################
  
  schedule_params = ScheduleParameters()
  schedule_params.improve_steps = TrainingSteps(10000000000)
  schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(20)
  schedule_params.evaluation_steps = EnvironmentEpisodes(1)
  schedule_params.heatup_steps = EnvironmentSteps(1000)
  
  #########
  # Agent #
  #########
  agent_params = DDQNAgentParameters()
  agent_params.network_wrappers['main'].learning_rate = 0.00025
  agent_params.network_wrappers['main'].heads_parameters = \
      [DuelingQHeadParameters(rescale_gradient_from_head_by_factor=1/math.sqrt(2))]
  agent_params.network_wrappers['main'].middleware_parameters.scheme = MiddlewareScheme.Empty
  agent_params.network_wrappers['main'].clip_gradients = 10
  agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(4)
  agent_params.network_wrappers['main'].input_embedders_parameters['forward_camera'] = \
      agent_params.network_wrappers['main'].input_embedders_parameters.pop('observation')
  agent_params.output_filter = OutputFilter()
  agent_params.output_filter.add_action_filter('discretization', BoxDiscretization(5))
  
  ###############
  # Environment #
  ###############
  env_params = CarlaEnvironmentParameters()
  
  graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
                                      schedule_params=schedule_params, vis_params=VisualizationParameters())
  