text: """Config for DDPG with Behavior Cloning on LunarLanderContinuous-v2.
  
  - Author: Kyunghwan Kim
  - Contact: kh.kim@medipixel.io
  """
  
  agent = dict(
      type="BCDDPGAgent",
      hyper_params=dict(
          gamma=0.99,
          tau=1e-3,
          buffer_size=int(1e5),
          batch_size=512,
          initial_random_action=int(1e4),
          multiple_update=1,  # multiple learning updates
          gradient_clip_ac=0.5,
          gradient_clip_cr=0.5,
          # BC
          demo_batch_size=64,
          lambda1=1e-3,
          # HER
          use_her=False,
          her=dict(type="LunarLanderContinuousHER",),
          success_score=250.0,
          desired_states_from_demo=True,
      ),
      network_cfg=dict(hidden_sizes_actor=[256, 256], hidden_sizes_critic=[256, 256]),
      optim_cfg=dict(lr_actor=1e-4, lr_critic=1e-3, weight_decay=1e-4),
      noise_cfg=dict(ou_noise_theta=0.0, ou_noise_sigma=0.0),
  )
  