project_name: DiscoDemo
entity_name: null
group_name: pnp_banana
exp_name: discodemo-pnp_banana
seed: 0
logger_type: wandb
save_path: libs/FlashSAC/models/pnp_banana/discodemo-pnp_banana/seed0-TIMESTAMP
agent_load_path: null
num_env_steps: 50000000
num_train_envs: 2048
updates_per_interaction_step: 64
gamma: 0.99
n_step: 8
env:
  workcell: libs/real2sim/assets/workcell.json
  task: libs/real2sim/real2sim/tasks/pnp_banana.py
  env_version: fr3-pnp_banana
  gripper_lock: null
success_hold_steps: 20
agent:
  agent_type: flashSAC
  seed: 0
  device_type: cuda
  buffer_max_length: 100000000
  buffer_min_length: 5000
  buffer_device_type: cuda
  sample_batch_size: 2048
  normalize_reward: true
  normalized_G_max: 5.0
  asymmetric_observation: false
  learning_rate_init: 0.0003
  learning_rate_peak: 0.0003
  learning_rate_end: 0.00015
  learning_rate_warmup_rate: 1.0e-06
  learning_rate_warmup_step: 50
  learning_rate_decay_rate: 1.0
  learning_rate_decay_step: 50000000
  actor_num_blocks: 2
  actor_hidden_dim: 128
  actor_bc_alpha: 0
  actor_noise_zeta_mu: 2.0
  actor_noise_zeta_max: 16
  actor_update_period: 2
  critic_num_blocks: 2
  critic_hidden_dim: 256
  critic_num_bins: 101
  critic_min_v: -5
  critic_max_v: 5
  critic_target_update_tau: 0.01
  temp_initial_value: 0.01
  temp_target_sigma: 0.15
  temp_target_entropy: null
  gamma: 0.99
  n_step: 8
  use_compile: true
  compile_mode: auto
  use_amp: true
  load_optimizer: true
  load_reward_normalizer: true
rfcl:
  demo_ratio: 0.5
  truncate_after_success: 50
  reverse:
    reverse_step_size: 48
    advance_threshold: 0.9
    frontier_window: 10
    minimum_episode_steps: 30
  solved_frac_threshold: 0.5
  demo_path: data/demo_banks/pnp_banana/human_demos.h5
  init_pose: box:0.4125,0.6375,-0.15,0.15,180,0.20
eval_worker:
  num_envs: 50
skill:
  phi_hidden:
  - 256
  - 256
  phi_lr: 0.0001
  dual_slack: 0.001
  lam_init: 1.0
  alpha: 0.3
  z_dim: 3
safety_penalty:
  illegal_contact:
    weight: 0.0001
    sat: 100
    robot_bodies:
    - panda_link5
    - panda_link6
    - panda_link7
    - panda_hand
    - panda_leftfinger
    - panda_rightfinger
    scene_bodies:
    - table
    - bowl
    - banana
    allowed_pairs:
    - - panda_leftfinger
      - banana
    - - panda_rightfinger
      - banana
obs_bounds:
  object_z_m:
  - 0.0
  - 0.6
  eef_box_m:
    x:
    - 0.2
    - 0.85
    'y':
    - -0.45
    - 0.45
    z:
    - 0.0
    - 0.7
  object_xy:
  - - 0.2
    - 0.85
  - - -0.4
    - 0.4
task_name: pnp_banana
jerk_limited_action:
  max_joint_velocity:
  - 0.22215
  - 0.51715
  - 0.19244
  - 0.66218
  - 0.31884
  - 0.41767
  - 0.40726
  max_joint_acceleration:
  - 0.46616
  - 0.95012
  - 0.46407
  - 1.28545
  - 1.25775
  - 1.18572
  - 1.33469
  max_joint_jerk:
  - 2.65668
  - 4.40304
  - 2.82091
  - 5.53682
  - 9.90014
  - 6.67391
  - 10.55754
method_name: discodemo