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