    # Make Experience Replay
    exp_replay = ExperienceReplay(intl_data=data, max_size=hyps['max_steps'])
    
    # Make Models
    h_size = hyps['h_size']
    s_size = hyps['s_size']
    a_size = data['actions'].shape[-1]
    min_sigma = hyps['min_sigma']
    obs_shape = data['observs'].shape[1:]
    env_name = hyps['env_name']
    bnorm = hyps['bnorm']
    dynamics = Dynamics(obs_shape, h_size, s_size, a_size, bnorm=bnorm, env_name=env_name, min_sigma=min_sigma)
    if env_name=="Pendulum-v0":
        decoder = SimpleDecoder(dynamics.encoder.emb_shape, obs_shape, h_size, s_size, bnorm=bnorm)