text: from design_baselines.cbas import cbas
  from design_baselines.rep import rep
  from design_baselines.rep_coms_cleaned import coms_cleaned
  coms_cleaned(logging_dir = "/nfs/kun2/users/hanqi2019/antseed2",
                          task='AntMorphology-Exact-v0', #ToyContinuous-Exact-V0,#'AntMorphology-Exact-v0', #HopperController-Exact-v0 #Discrete: TFBind8-Exact-v0
                          task_relabel=True,
                          normalize_ys=True,
                          normalize_xs=True,
                          in_latent_space=False,
                          vae_hidden_size=64,
                          vae_latent_size=256,
                          vae_activation='relu',
                          vae_kernel_size=3,
                          vae_num_blocks=4,
                          vae_lr=0.0003,
                          vae_beta=1.0,
                          vae_batch_size=32,
                          vae_val_size=200,
                          vae_epochs=10,
                          particle_lr=0.05,
                          particle_train_gradient_steps=50,
                          particle_evaluate_gradient_steps=50,
                          particle_entropy_coefficient=0.0,
                          forward_model_activations=['relu', 'relu'],
                          forward_model_hidden_size=2048,
                          forward_model_final_tanh=False,
                          forward_model_lr=0.0003,
                          forward_model_alpha=0.1,
                          forward_model_alpha_lr=0.01,
                          forward_model_overestimation_limit=0.5,
                          forward_model_noise_std=0.0,
                          forward_model_batch_size=128,
                          forward_model_val_size=200,
                          forward_model_epochs=500,
                          evaluation_samples=128,
                          fast=False,
                          latent_space_size=[16,1],
                          rep_model_activations=['relu', 'relu'],
                          rep_model_lr=0.0003,
                          rep_model_hidden_size=2048,
                          policy_model_lr=0.0003,
                          noise_input = [1, 10],
                          mmd_param = 1
  )
  
  """
  rep(logging_dir="data",
                          task='HopperController-Exact-v0', #'AntMorphology-Exact-v0', #Discrete: TFBind8-Exact-v0
                          task_relabel=True,
                          normalize_ys=True,
                          normalize_xs=True,
                          latent_space_size=[20,1],
                          noise_shape=[1,10],
                          in_latent_space=False,
                          vae_hidden_size=64,
                          vae_latent_size=256,
                          vae_activation='relu',
                          vae_kernel_size=3,
                          vae_num_blocks=4,
                          vae_lr=0.0003,
                          vae_beta=1.0,
                          vae_batch_size=32,
                          vae_val_size=200,
                          vae_epochs=10,
                          particle_lr=0.05,
                          particle_train_gradient_steps=50,
                          particle_evaluate_gradient_steps=50,
                          particle_entropy_coefficient=0.0,
                          forward_model_activations=['relu', 'relu'],
                          forward_model_hidden_size=2048,
                          forward_model_final_tanh=False,
                          forward_model_lr=0.0003,
                          rep_model_activations=['relu', 'relu'],
                          rep_model_hidden_size=2048,
                          rep_model_final_tanh=False,
                          rep_model_lr=0.0003,
                          policy_model_activations=['relu', 'relu'],
                          policy_model_hidden_size=2048,
                          policy_model_final_tanh=False,
                          policy_model_lr=0.0003,
                          forward_model_noise_std=0.0,
                          forward_model_batch_size=32,
                          forward_model_val_size=200,
                          forward_model_epochs=25,
                          evaluation_samples=128,
                          fast=False
  )
  """
  
  # cbas({
  #         "logging_dir"="data",
  #         "normalize_ys"=True,
  #         "normalize_xs"=False,
  #         "task"="TFBind8-Exact-v0",
  #         "task_kwargs"={"relabel"=False},
  #         "bootstraps"=5,
  #         "val_size"=200,
  #         "ensemble_batch_size"=100,
  #         "vae_batch_size"=100,
  #         "embedding_size"=256,
  #         "hidden_size"=256,
  #         "num_layers"=1,
  #         "initial_max_std"=0.2,
  #         "initial_min_std"=0.1,
  #         "ensemble_lr"=0.0003,
  #         "ensemble_epochs"=100,
  #         "latent_size"=32,
  #         "vae_lr"=0.0003,
  #         "vae_beta"=1.0,
  #         "offline_epochs"=200,
  #         "online_batches"=10,
  #         "online_epochs"=10,
  #         "iterations"=20,
  #         "percentile"=80.0,
  #         "solver_samples"=128, "do_evaluation"=True})