25 lines
510 B
YAML
25 lines
510 B
YAML
# @package _global_
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dataset_name: oakinkv2
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task: pick_spoon_bowl
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robot_type: xhand
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embodiment_type: right
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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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ctrl_dt: 1.5
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knot_dt: 1.0
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horizon: 3.0
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first_ctrl_noise_scale: 2.0
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last_ctrl_noise_scale: 4.0
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improvement_threshold: -1.0
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improvement_check_steps: 2
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max_num_iterations: 4
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base_pos_rew_scale: 0.1
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base_rot_rew_scale: 0.03
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joint_noise_scale: 0.1
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pos_noise_scale: 0.01
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rot_noise_scale: 0.01
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final_noise_scale: 0.01
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object_rot_threshold: 1.0
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max_local_retries: 3
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