- 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