text: """Config for DDPG on Reacher-v2.
  
  - Author: Kyunghwan Kim
  - Contact: kh.kim@medipixel.io
  """
  import torch
  
  from rl_algorithms.common.helper_functions import identity
  
  agent = dict(
      type="DDPGAgent",
      hyper_params=dict(
          gamma=0.99,
          tau=1e-3,
          buffer_size=int(1e5),
          batch_size=128,
          initial_random_action=int(1e4),
          multiple_update=1,  # multiple learning updates
          gradient_clip_ac=0.5,
          gradient_clip_cr=1.0,
      ),
      learner_cfg=dict(
          type="DDPGLearner",
          backbone=dict(actor=dict(), critic=dict(),),
          head=dict(
              actor=dict(
                  type="MLP",
                  configs=dict(hidden_sizes=[256, 256], output_activation=torch.tanh,),
              ),
              critic=dict(
                  type="MLP",
                  configs=dict(
                      hidden_sizes=[256, 256], output_size=1, output_activation=identity,
                  ),
              ),
          ),
          optim_cfg=dict(lr_actor=1e-3, lr_critic=1e-3, weight_decay=1e-6),
          noise_cfg=dict(ou_noise_theta=0.0, ou_noise_sigma=0.0),
      ),
      noise_cfg=dict(ou_noise_theta=0.0, ou_noise_sigma=0.0),
  )
  