| agent: our |
| bs: 64 |
| epochs: 90 |
| exp_id: rvt2 |
| num_workers: 2 |
| peract: |
| add_rgc_loss: true |
| amp: true |
| bnb: true |
| lambda_weight_l2: 0.0001 |
| lr: 1.25e-05 |
| lr_cos_dec: true |
| num_rotation_classes: 72 |
| optimizer_type: lamb |
| 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: task_uniform |
| tasks: all |
| train_iter: 160000 |
|
|
|
|
