# @package _global_
dataset_name: arcticv2
task: s01-box_use_01
robot_type: xhand
embodiment_type: bimanual
data_id: 0
temperature: 1.0
num_samples: 1024
ctrl_dt: 1.5
knot_dt: 1.0
horizon: 3.0
first_ctrl_noise_scale: 2.0
last_ctrl_noise_scale: 4.0
improvement_threshold: 0.01
improvement_check_steps: 2
max_num_iterations: 16
base_pos_rew_scale: 0.1
base_rot_rew_scale: 0.03
joint_noise_scale: 0.1
pos_noise_scale: 0.01
rot_noise_scale: 0.01
final_noise_scale: 0.01