{
    ego_encoder: {
        input_dim: 5, // number of state vars
        hidden_n: 0,
        hidden_dim: 5,
        output_dim: 5
    },
    deepsets: {
        input_dim: 6, // number of relative state vars for others
        phi: {
            hidden_n: 2,
            hidden_dim: 20,
        },
        latent_dim: 20,
        rho: {
            hidden_n: 2,
            hidden_dim: 10,
        },
        output_dim: 10
    },
    path_encoder: {
        input_dim: 40, // 2 * path length for (x,y) coordinates
        hidden_n: 0,
        hidden_dim: 20,
        output_dim: 10,
    },
    head: {
        input_dim: 0, // computed in policy constructor
        hidden_n: 3,
        hidden_dim: 50,
        output_dim: 1, // number of outputs e.g. number of actions, or just one
        final_activation: 'sigmoid',
    },
    optim: {
            optimizer: 'adam',
            lr: 1e-3,
            weight_decay: 0.1,
    },
    train_epochs: 8,
    train_batch_size: 32,
    loss: 'huber',
}