code: def create(entropy_coefficient, value_coefficient, cliprange, max_grad_norm, discount_factor,
             normalize_advantage=True, gae_lambda=1.0):
      
      return PpoPolicyGradient(
          entropy_coefficient, value_coefficient, cliprange, max_grad_norm,
          discount_factor=discount_factor,
          normalize_advantage=normalize_advantage,
          gae_lambda=gae_lambda
      )
docs: Vel factory function