| format: mars-tubes-simulation-v1 | |
| backbone: | |
| type: smolvla | |
| pretrained_path: vla | |
| c_vla: 10 | |
| cuda_graphs: true | |
| max_graphs: 2 | |
| observation_format: libero | |
| adapter: adapter/adapter.pt | |
| seeds: | |
| 0: | |
| router: mars/mars.pt | |
| pickup: actors/pickup.pt | |
| insert: actors/insert.pt | |
| switch: | |
| tau: 0.6 | |
| k: 2 | |
| cooldown: 0 | |
| query_interval: 1 | |
| max_steps: 1200 | |
| evaluation: | |
| scenes: | |
| - 30050 | |
| - 30100 | |
| noise_seeds: | |
| - 0 | |
| - 1 | |
| model_seeds: | |
| - 0 | |
| modes: | |
| - base | |
| - base_c5 | |
| - mars | |