#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from dataclasses import dataclass, field


@dataclass
class SACConfig:
    input_shapes: dict[str, list[int]] = field(
        default_factory=lambda: {
            "observation.image": [3, 84, 84],
            "observation.state": [4],
        }
    )
    output_shapes: dict[str, list[int]] = field(
        default_factory=lambda: {
            "action": [2],
        }
    )

    # Normalization / Unnormalization
    input_normalization_modes: dict[str, str] = field(
        default_factory=lambda: {
            "observation.image": "mean_std",
            "observation.state": "min_max",
            "observation.environment_state": "min_max",
        }
    )
    output_normalization_modes: dict[str, str] = field(
        default_factory=lambda: {"action": "min_max"},
    )

    discount = 0.99
    temperature_init = 1.0
    num_critics = 2
    num_subsample_critics = None
    critic_lr = 3e-4
    actor_lr = 3e-4
    temperature_lr = 3e-4
    critic_target_update_weight = 0.005
    utd_ratio = 2
    state_encoder_hidden_dim = 256
    latent_dim = 128
    target_entropy = None
    backup_entropy = True
    critic_network_kwargs = {
        "hidden_dims": [256, 256],
        "activate_final": True,
    }
    actor_network_kwargs = {
        "hidden_dims": [256, 256],
        "activate_final": True,
    }
    policy_kwargs = {
        "use_tanh_squash": True,
        "log_std_min": -5,
        "log_std_max": 2,
    }