            [{'params': model_registrar.get_all_but_name_match('map_encoder').parameters()},
             {'params': model_registrar.get_name_match('map_encoder').parameters(), 'lr': 0.0008}],
            lr=hyperparams['learning_rate'])
        # Set Learning Rate
        if hyperparams['learning_rate_style'] == 'const':
            lr_scheduler[node_type] = optim.lr_scheduler.ExponentialLR(optimizer[node_type], gamma=1.0)
        elif hyperparams['learning_rate_style'] == 'exp':
            lr_scheduler[node_type] = optim.lr_scheduler.ExponentialLR(optimizer[node_type],
                                                                       gamma=hyperparams['learning_decay_rate'])

    #################################
    #           TRAINING            #