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agent: our
bs: 4
epochs: 100
exp_id: debug
num_workers: 1
peract:
add_rgc_loss: true
lambda_weight_l2: 1.0e-06
lr: 8.0e-05
num_rotation_classes: 72
optimizer_type: adam
transform_augmentation: true
transform_augmentation_rpy:
- 0.0
- 0.0
- 45.0
transform_augmentation_xyz:
- 0.125
- 0.125
- 0.125
peract_official:
cfg_path: configs/peract_official_config.yaml
rvt:
gt_hm_sigma: 1.5
img_aug: 0.0
move_pc_in_bound: true
place_with_mean: false
sample_distribution_mode: task_uniform
tasks: all
train_iter: 160000
use_scheduler: true
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