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Robot_Arm/ml/configs/apg.json
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{
"apg": {
"batch": 128, "lr": 1e-4, "steps": 3000, "grad_clip": 1.0, "amp": "bf16",
"plans": 60, "seg_plans": 10,
"margin_train_mm": 5.0,
"w_tgt": 1.0, "w_rot": 0.3, "w_col": 2.0, "w_smooth": 0.02, "w_len": 0.001, "w_bc": 0.5,
"cat_weights": {"A": 0.4, "B": 1.0, "C": 1.6, "D": 0.6, "Dr": 0.6},
"eval_every": 500, "eval_tasks": 512
}
}