34 lines
748 B
YAML
34 lines
748 B
YAML
# @package _global_
|
|
task: p36-tea
|
|
dataset_name: gigahand
|
|
robot_type: xhand
|
|
embodiment_type: bimanual
|
|
data_id: 0
|
|
temperature: 1.0
|
|
num_samples: 1024
|
|
first_ctrl_noise_scale: 1.0
|
|
final_noise_scale: 0.3
|
|
sim_dt: 0.005
|
|
max_num_iterations: 32
|
|
gibbs_sampling: false
|
|
# guidance related
|
|
improvement_threshold: 0.0
|
|
contact_guidance: true
|
|
guidance_decay_ratio: 0.5
|
|
init_pos_actuator_gain: 2.0
|
|
init_pos_actuator_bias: 2.0
|
|
init_rot_actuator_gain: 0.3
|
|
init_rot_actuator_bias: 0.3
|
|
# with guidance, exploration noise can be higher
|
|
joint_noise_scale: 0.15
|
|
pos_noise_scale: 0.01
|
|
rot_noise_scale: 0.01
|
|
# with guidance, horizon can be shorter
|
|
horizon: 1.6
|
|
knot_dt: 0.4
|
|
ctrl_dt: 0.2
|
|
base_pos_rew_scale: 0.03
|
|
base_rot_rew_scale: 0.03
|
|
pos_rew_scale: 1.0
|
|
rot_rew_scale: 1.0
|