text: from .base_maple import maple_params, deepcopy
  
  params = deepcopy(maple_params)
  params.update({
      'domain': 'halfcheetah',
      'task': 'medium-replay-v0',
      'exp_name': 'halfcheetah_medium_replay'
  })
  params['kwargs'].update({
      'pool_load_path': 'd4rl/halfcheetah-medium-replay-v0',
      'pool_load_max_size': 101000,
      'rollout_length': 5,
      'penalty_coeff': 1.0
  })