Source code for embodichain.learning.rl.utils.config

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# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
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# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
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#     http://www.apache.org/licenses/LICENSE-2.0
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from __future__ import annotations

from typing import Any

from embodichain.utils import configclass

__all__ = ["AlgorithmCfg", "LRSchedulerCfg", "OptimizerCfg"]




@configclass
class OptimizerCfg:
    """Policy optimizer configuration."""

    name: str = "adam"
    learning_rate: float = 3e-4
    kwargs: dict[str, Any] = dict()





@configclass
class LRSchedulerCfg:
    """Optional LR scheduler. ``name=None`` disables scheduling.

    Horizon keys (``total_iters`` / ``T_max``) may be omitted and bound later by
    ``BaseAlgorithm.bind_schedule``.
    """

    name: str | None = None
    kwargs: dict[str, Any] = dict()





@configclass
class AlgorithmCfg:
    """Shared fields for RL algorithm configs."""

    device: str = "cpu"
    optimizer: OptimizerCfg = OptimizerCfg()
    lr_scheduler: LRSchedulerCfg = LRSchedulerCfg()
    batch_size: int = 64
    gamma: float = 0.99
    gae_lambda: float = 0.95
    max_grad_norm: float = 0.5