from easydict import EasyDict

cartpole_bco_config = dict(
    exp_name='cartpole_bco_seed0',
    env=dict(
        collector_env_num=8,
        evaluator_env_num=5,
        n_evaluator_episode=5,
        stop_value=195,
        replay_path=None,
    ),
    policy=dict(
        cuda=True,
        continuous=False,
        loss_type='l1_loss',
        model=dict(
            obs_shape=4,
            action_shape=2,
            encoder_hidden_size_list=[128, 128, 64],
            dueling=True,
        ),
        learn=dict(
            train_epoch=20,
            batch_size=128,
            learning_rate=0.001,
            weight_decay=1e-4,
            momentum=0.9,
            decay_epoch=30,
            decay_rate=1,
            warmup_lr=1e-4,
            warmup_epoch=3,
            optimizer='SGD',
            lr_decay=True,
        ),
        collect=dict(
            n_episode=10,
            # control the number (alpha*n_episode) of post-demonstration environment interactions at each iteration.
            # Notice: alpha * n_episode > collector_env_num
            model_path='abs model path',  # epxert model path
            data_path='abs data path',  # expert data path
        ),
        eval=dict(evaluator=dict(eval_freq=40, )),
        other=dict(eps=dict(
            type='exp',
            start=0.95,
            end=0.1,
            decay=10000,
        ), )
    ),
    bco=dict(
        learn=dict(idm_batch_size=32, idm_learning_rate=0.001, idm_weight_decay=1e-4, idm_train_epoch=10),
        model=dict(idm_encoder_hidden_size_list=[60, 80, 100, 40], action_space='discrete'),
        alpha=0.8,
    )
)
cartpole_bco_config = EasyDict(cartpole_bco_config)
main_config = cartpole_bco_config
cartpole_bco_create_config = dict(
    env=dict(
        type='cartpole',
        import_names=['dizoo.classic_control.cartpole.envs.cartpole_env'],
    ),
    env_manager=dict(type='subprocess'),
    policy=dict(type='bc'),
    collector=dict(type='episode')
)
cartpole_bco_create_config = EasyDict(cartpole_bco_create_config)
create_config = cartpole_bco_create_config

if __name__ == "__main__":
    from ding.entry import serial_pipeline_bco
    from dizoo.classic_control.cartpole.config import cartpole_dqn_config, cartpole_dqn_create_config
    expert_main_config = cartpole_dqn_config
    expert_create_config = cartpole_dqn_create_config
    serial_pipeline_bco(
        [main_config, create_config], [cartpole_dqn_config, cartpole_dqn_create_config], seed=0, max_env_step=100000
    )