| agent: our | |
| bs: 4 | |
| epochs: 100 | |
| exp_id: 3d_aligner | |
| num_workers: 3 | |
| peract: | |
| add_rgc_loss: true | |
| lambda_weight_l2: 0.0001 | |
| 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 | |