
{
    "config":
    {   
		"numSteps": 1000,
		"actor_pr_path": "Weights/policy.pt",
		"num_cpus": 10,
		"obj_folder": "geometry/mugs/SNC_v4_mug_xs/",
		"saved_model_path": "",
		"checkPalmContact": 1,
		"ES_method": "eNES_logvar",
		"use_antithetic": 1,
		"use_long_finger": 1,
		"num_epsilon": 1
    },
	"pac":
	{
		"numTrainEnvs": 500,
		"numTestEnvs": 500,
		"L": 1,
		"delta": 0.01,
		"delta_prime": 0.001,
		"delta_final": 0.009,
		"include_reg": 1
	},
    "nn":
    {
		"out_cnn_dim": 40,
		"z_conv_dim": 2,
		"z_mlp_dim": 8
	},
    "optim":
    {
        "mu_lr": 1e-1,
        "logvar_lr": 1e-2,
		"decayLR":
		{
			"use": 0,
			"gamma": 0.5
		}
    }    
}
