18 lines
356 B
YAML
18 lines
356 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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horizon: 2.0
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improvement_threshold: 0.01
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improvement_check_steps: 2
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max_num_iterations: 32
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base_pos_rew_scale: 0.1
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base_rot_rew_scale: 0.03
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# rot_rew_scale: 0.3
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joint_noise_scale: 0.03
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pos_noise_scale: 0.01
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rot_noise_scale: 0.01
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