| # @package _group_ | |
| name: 'ARM' | |
| activation: lrelu | |
| q_conf: True | |
| alpha: 0.05 | |
| alpha_lr: 0.0001 | |
| alpha_auto_tune: False | |
| next_best_pose_critic_lr: 0.0025 | |
| next_best_pose_actor_lr: 0.001 | |
| next_best_pose_critic_weight_decay: 0.00001 | |
| next_best_pose_actor_weight_decay: 0.00001 | |
| crop_shape: [16, 16] | |
| next_best_pose_tau: 0.005 | |
| next_best_pose_critic_grad_clip: 5 | |
| next_best_pose_actor_grad_clip: 5 | |
| qattention_grad_clip: 5 | |
| qattention_tau: 0.005 | |
| qattention_lr: 0.0005 | |
| qattention_weight_decay: 0.00001 | |
| qattention_lambda_qreg: 0.0000001 | |
| demo_augmentation: True | |
| demo_augmentation_every_n: 10 | |