| - experiment=dpp_ft_human | |
| - agent=dpp | |
| - use_wandb=false | |
| - use_tb=false | |
| - suite.action_mode=6points | |
| - suite.history_len=1 | |
| - dataloader.bc_dataset.normalize=false | |
| - dataloader.bc_dataset.hdf5_path=/sjw_alinlab/home/seungyong/data/dpp6/ft_human.h5 | |
| - dataloader.bc_dataset.hand=right | |
| - dataloader.bc_dataset.max_num_objects=4 | |
| - dataloader.bc_dataset.act_subsample=1 | |
| - dataloader.bc_dataset.noise_object_points=false | |
| - dataloader.bc_dataset.uniform_contact_pos_weight=true | |
| - teacher_forcing=true | |
| - use_contact_head=true | |
| - contact_loss_coef=1.0 | |
| - contact_detach=true | |
| - geom_drop_p=0.0 | |
| - contact_drop_p=0.0 | |
| - robot_noise_std=0.0 | |
| - num_queries=16 | |
| - batch_size=64 | |
| - agent.lr=1e-4 | |
| - suite.num_train_steps=100000 | |
| - suite.save_every_steps=5000 | |
| - load_bc=true | |
| - bc_weight=/sjw_alinlab/home/seungyong/data/dpp6/dpp_pt_100k.pt | |
| - finetune=true | |