planet_cartpole_balance.yaml

# @package _group_
env: "dmcontrol_cartpole_balance"  # used to set the hydra dir, ignored otherwise

env_cfg:
  _target_: "mbrl.third_party.dmc2gym.make"
  domain_name: "cartpole"
  task_name: "balance"
  seed: ${seed}
  visualize_reward: false
  from_pixels: true
  height: 64
  width: 64
  frame_skip: 8
  bit_depth: 5

term_fn: "no_termination"

# General configuration overrides
trial_length: 125
action_noise_std: 0.3

# Model overrides
num_grad_updates: 100
sequence_length: 50
batch_size: 50
free_nats: 3
kl_scale: 1.0

# Planner configuration overrides
planning_horizon: 12
cem_num_iters: 10
cem_elite_ratio: 0.1
cem_population_size: 1000
cem_alpha: 0.0
cem_clipped_normal: true