agent: our
bs: 12
epochs: 18
exp_id: racer
finetuning: true
image_size: 256
num_workers: 6
peract:
  add_rgc_loss: true
  lambda_weight_l2: 1.0e-06
  lr: 0.0005
  lr_cos_dec: true
  num_rotation_classes: 72
  optimizer_type: lamb
  transform_augmentation: true
  transform_augmentation_rpy:
  - 0.0
  - 0.0
  - 45.0
  transform_augmentation_xyz:
  - 0.125
  - 0.125
  - 0.125
  warmup_proportion: 0.08
  warmup_steps: 3761
peract_official:
  cfg_path: configs/peract_official_config.yaml
rvt:
  gt_hm_sigma: 1.5
  img_aug: 0.1
  move_pc_in_bound: true
  place_with_mean: false

lang_model_name: t5-11b
lang_level: rich
image_size: 256
sample_distribution_mode: task_uniform
tasks: all