text: from easydict import EasyDict
  
  halfcheetah_td3_default_config = dict(
      env=dict(
          env_id='Hopper-v3',
          norm_obs=dict(use_norm=False, ),
          norm_reward=dict(use_norm=False, ),
          collector_env_num=1,
          evaluator_env_num=8,
          use_act_scale=True,
          n_evaluator_episode=8,
          stop_value=11000,
      ),
      policy=dict(
          cuda=True,
          random_collect_size=25000,
          model=dict(
              obs_shape=11,
              action_shape=3,
              twin_critic=True,
              actor_head_hidden_size=256,
              critic_head_hidden_size=256,
              actor_head_type='regression',
          ),
          learn=dict(
              update_per_collect=1,
              batch_size=256,
              learning_rate_actor=1e-3,
              learning_rate_critic=1e-3,
              ignore_done=True,
              target_theta=0.005,
              discount_factor=0.99,
              actor_update_freq=2,
              noise=True,
              noise_sigma=0.2,
              noise_range=dict(
                  min=-0.5,
                  max=0.5,
              ),
              learner=dict(
                  load_path='./td3/ckpt/ckpt_best.pth.tar',
                  hook=dict(
                      load_ckpt_before_run='./td3/ckpt/ckpt_best.pth.tar',
                      save_ckpt_after_run=False,
                  )
              ),
          ),
          collect=dict(
              n_sample=1,
              unroll_len=1,
              noise_sigma=0.1,
              save_path='./td3/expert.pkl',
              data_type='hdf5',
          ),
          other=dict(replay_buffer=dict(replay_buffer_size=1000000, ), ),
      )
  )
  
  halfcheetah_td3_default_config = EasyDict(halfcheetah_td3_default_config)
  main_config = halfcheetah_td3_default_config
  
  halfcheetah_td3_default_create_config = dict(
      env=dict(
          type='mujoco',
          import_names=['dizoo.mujoco.envs.mujoco_env'],
      ),
      env_manager=dict(type='base'),
      policy=dict(
          type='td3',
          import_names=['ding.policy.td3'],
      ),
      replay_buffer=dict(type='naive', ),
  )
  halfcheetah_td3_default_create_config = EasyDict(halfcheetah_td3_default_create_config)
  create_config = halfcheetah_td3_default_create_config
  