| agent: our | |
| bs: 16 | |
| data_source: memorybench | |
| demo: 100 | |
| epochs: 20 | |
| exp_id: sam2act | |
| exp_name: put_block_back | |
| num_workers: 5 | |
| peract: | |
| add_rgc_loss: true | |
| amp: true | |
| bnb: true | |
| lambda_weight_l2: 0.0001 | |
| lr: 2.5e-06 | |
| lr_cos_dec: true | |
| num_rotation_classes: 72 | |
| optimizer_type: lamb | |
| same_trans_aug_per_seq: true | |
| transform_augmentation: true | |
| transform_augmentation_rpy: | |
| - 0.0 | |
| - 0.0 | |
| - 45.0 | |
| transform_augmentation_xyz: | |
| - 0.125 | |
| - 0.125 | |
| - 0.125 | |
| warmup_steps: 2000 | |
| peract_official: | |
| cfg_path: configs/peract_official_config.yaml | |
| resume: '' | |
| rvt: | |
| gt_hm_sigma: 1.5 | |
| img_aug: 0.0 | |
| move_pc_in_bound: true | |
| place_with_mean: false | |
| sample_distribution_mode: demo_uniform_temporal | |
| tasks: put_block_back | |
| train_iter: 160000 | |
| wandb: true | |