def _post_publish(self):
        '''
            function that manages metrics and behavior after parameter release
            Actions include: 
                adjusts adaptive threshold for KL penalty for 'adapt' PPO 
                adjusts adaptive prob ratio clip rate for 'clip' PPO
                clears KL-Divergence record
                clears experience counter after parameter release
                steps actor and critic learning rate scheduler
        '''
        final_kl = np.mean(self.kl_record)
        if self.ppo_mode == 'clip': # adapts clip ratios
            if final_kl > self.kl_target * self.clip_adjust_threshold[1]:
                if self.clip_lower < self.clip_epsilon:
                    self.clip_epsilon = self.clip_epsilon / self.learner_config.algo.clip_consts.scale_constant
            elif final_kl < self.kl_target * self.clip_adjust_threshold[0]:
                if self.clip_upper > self.clip_epsilon:
                    self.clip_epsilon = self.clip_epsilon * self.learner_config.algo.clip_consts.scale_constant
        else: # adapt KL divergence penalty before returning the statistics 
            if final_kl > self.kl_target * self.beta_adjust_threshold[1]:
                if self.beta_upper > self.beta:
                    self.beta = self.beta * self.learner_config.algo.adapt_consts.scale_constant
            elif final_kl < self.kl_target * self.beta_adjust_threshold[0]:
                if self.beta_lower < self.beta:
                    self.beta = self.beta / self.learner_config.algo.adapt_consts.scale_constant
        self.ref_target_model.update_target_params(self.model)
        self.kl_record = []
        self.exp_counter = 0
        self.actor_lr_scheduler.step()
        self.critic_lr_scheduler.step()

            function that manages metrics and behavior after parameter release
            Actions include: 
                adjusts adaptive threshold for KL penalty for 'adapt' PPO 
                adjusts adaptive prob ratio clip rate for 'clip' PPO
                clears KL-Divergence record
                clears experience counter after parameter release
                steps actor and critic learning rate scheduler
        
surreal/learner/ppo.py