33 lines
730 B
YAML
33 lines
730 B
YAML
# @package _global_
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task: lift_board
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robot_type: xhand
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embodiment_type: bimanual
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data_id: 0
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temperature: 1.0
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num_samples: 1024
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first_ctrl_noise_scale: 1.0
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final_noise_scale: 0.3
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sim_dt: 0.005
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max_num_iterations: 32
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gibbs_sampling: false
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# guidance related
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improvement_threshold: 0.0
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contact_guidance: true
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guidance_decay_ratio: 0.8
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init_pos_actuator_gain: 10.0
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init_pos_actuator_bias: 10.0
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init_rot_actuator_gain: 0.3
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init_rot_actuator_bias: 0.3
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# with guidance, exploration noise can be higher
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joint_noise_scale: 0.02
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pos_noise_scale: 0.005
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rot_noise_scale: 0.01
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# with guidance, horizon can be shorter
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horizon: 0.4
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knot_dt: 0.1
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ctrl_dt: 0.05
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base_pos_rew_scale: 0.3
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base_rot_rew_scale: 0.3
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pos_rew_scale: 1.0
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rot_rew_scale: 1.0
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