agent: our
bs: 4
epochs: 500
exp_id: bridgevla_memorybench
feat_from_stage1: true
freeze_epochs: 20
gradient_checkpointing: true
initial_viz: true
memory:
  dim_head: 128
  discriminator:
    enabled: false
    heads: 8
    hidden: 512
    input: current
    loss_weight: 1.0
    pos_weight: 5.5
    threshold: 0.5
  enabled: true
  ffn_mult: 2
  grad_through_tokens: true
  heads: 8
  k_temporal: 2
  num_layers: 2
  select: keyframe_gt
  share_spatial_across_stages: false
  spatial_at_mvt1: true
  spatial_at_mvt2: true
  spatial_memory: true
  temporal_at_mvt1: true
  temporal_memory: true
  use_fast_attn: false
num_arms: 1
num_workers: 4
peract:
  add_rgc_loss: true
  betas:
  - 0.9
  - 0.95
  lambda_weight_l2: 0.0001
  lr: 5.0e-05
  num_rotation_classes: 72
  optimizer_type: adamw
  transform_augmentation: true
  transform_augmentation_rpy:
  - 0.0
  - 0.0
  - 45.0
  transform_augmentation_xyz:
  - 0.125
  - 0.125
  - 0.125
  weight_decay: 0.001
peract_official:
  cfg_path: configs/peract_official_config.yaml
predict_collision: true
renderer_img_sizes_w: 2.0
rotate_top_ccw90: false
rotation_representation: 6d
rvt:
  gt_hm_sigma: 1.5
  img_aug: 0.0
  move_pc_in_bound: true
  place_with_mean: false
  use_view_logvar: false
sample_distribution_mode: transition_uniform
save_every_n_epochs: 20
save_optimizer_state: false
splat_radius: 0.012
splat_radius_mvt2: 0.012
st_wpt_loc_aug: 0.05
task_sampling:
  alpha: 0.5
  mode: transition_uniform
tasks: all
train_iter: 160000
use_scheduler: true
viz_every_n_epochs: 20
viz_tasks: null
warmup_steps: 1000