task_name = 'sim_insertion_human'
project = "ablation"
name = 'sim_insertion_human_no_cls'

ckpt_dir = f'runs/{task_name}/{name}'
seed = 0

resume = False
resume_ckpt = 1998
resume_ckpt_path = f'runs/{task_name}/{name}/weights/policy_epoch_{resume_ckpt}_seed_{seed}.ckpt'

wandb_ = True

# Training
batch_size = 8

num_epochs = 1500

# Model
policy_class = 'HATACT'
num_blocks = 3
dec_layers = 4


chunk_size = 100
hidden_dim = 512
dim_feedforward = 3200



# Loss
loss = 'l1'
lr = 1e-5
kl_weight = 10

temporal_agg = True



# Evaluation
eval = False
train_eval = True



# Misc
onscreen_render = False
save_video = False

notes = 'sim_insertion_human original'