# One-Leg Low
python -m src.train.train_mlp \
    base_policy.wandb_id=flare-robot/furniture_bc_mlp/mklm4h5n \
    base_policy.wt_type=best_success_rate \
    env.task=factory_peg_hole \
    env.randomness=low \
    load_pretrained_wts=true \
    gpu_id=3 \
    num_env_steps=400 \
    debug=false \
    initial_num_bc_epochs=10 \
    rl_per_bc=5 \
    +run_name=mlp_R_full

# - `one_leg`: 700
# - `lamp`: 1000
# - `round_table`: 1000
# - `mug_rack`: 400
# - `peg_hole`: 200
