diff --git a/ss2r/configs/experiment/rccar_transfer.yaml b/ss2r/configs/experiment/rccar_transfer.yaml
new file mode 100644
index 000000000..61b5bbc68
--- /dev/null
+++ b/ss2r/configs/experiment/rccar_transfer.yaml
@@ -0,0 +1,20 @@
+# @package _global_
+defaults:
+  - rccar_hardware
+  - override /agent/data_collection: episodic
+  - override /agent/penalizer: lagrangian
+  - _self_
+
+training:
+  num_timesteps: 25000
+  wandb_id: 7qm6mozf
+
+agent:
+  batch_size: 256
+  min_replay_size: 1000
+  max_replay_size: 1048576
+  policy_hidden_layer_sizes: [64, 64]
+  grad_updates_per_step: 2500
+  learning_rate: 1e-5
+  critic_learning_rate: 3e-4
+  num_critic_updates_per_actor_update: 10
\ No newline at end of file