seed: 0
eval_env:
  env_id: PickSubtaskTrain-v0
  num_envs: 252
  max_episode_steps: 200
  make_env: true
  continuous_task: true
  cat_state: true
  cat_pixels: false
  frame_stack: 1
  stationary_base: false
  stationary_torso: false
  stationary_head: true
  task_plan_fp: task_plans/tidy_house/pick/train/all.json
  spawn_data_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/tidy_house/pick/train/spawn_data.pt
  record_video: false
  debug_video: false
  debug_video_gen: false
  save_video_freq: 1
  info_on_video: false
  extra_stat_keys: []
  env_kwargs:
    robot_force_mult: 0.001
    robot_force_penalty_min: 0.2
    target_randomization: false
algo:
  name: bc
  lr: 0.0003
  batch_size: 512
  epochs: 25
  eval_freq: 1
  log_freq: 1
  save_freq: 1
  save_backup_ckpts: false
  data_dir_fp: ~/.maniskill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/tidy_house/pick
  max_cache_size: 300000
  torch_deterministic: true
  eval_episodes: 252
  num_eval_envs: 252
logger:
  workspace: mshab_exps
  exp_name: rcad-tidy_house-pick-all
  clear_out: true
  tensorboard: true
  wandb: false
model_ckpt: "mshab_checkpoints/bc/tidy_house/pick/all/policy.pt"