config/humanoid_hsd3.yaml [41:61]:
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  goal_space:
    robot: ${robot}
    features: ${goal_space}
    key: _goal_space
    subsets: ${subsets}
    from_lo_eps: ${eps}
  lo:
    init_from: checkpoint-lo.pt

model:
  hi:
    pi_task: pi_d2rl_discrete_d_256
    pi_subgoal: pi_d2rl_mt_d_256
    q: qd_d2rl_flattsg_d_256
  lo:
    pi: pi_d2rl_d_1024

optim:
  hi:
    pi_task:
      _target_: torch.optim.Adam
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config/walker_hsd3.yaml [35:55]:
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  goal_space:
    robot: ${robot}
    features: ${goal_space}
    key: _goal_space
    subsets: ${subsets}
    from_lo_eps: ${eps}
  lo:
    init_from: checkpoint-lo.pt

model:
  hi:
    pi_task: pi_d2rl_discrete_d_256
    pi_subgoal: pi_d2rl_mt_d_256
    q: qd_d2rl_flattsg_d_256
  lo:
    pi: pi_d2rl_d_1024

optim:
  hi:
    pi_task:
      _target_: torch.optim.Adam
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