From 205e0c9ddece51036d3972cb0e2577fde10c4217 Mon Sep 17 00:00:00 2001
From: Remi Cadene <re.cadene@gmail.com>
Date: Sat, 1 Jun 2024 16:01:55 +0000
Subject: [PATCH] Fix ACT delta_timestamps: first action should starts at
 1/fps, not 0

---
 lerobot/configs/policy/act.yaml               | 2 +-
 lerobot/configs/policy/act_real.yaml          | 2 +-
 lerobot/configs/policy/act_real_no_state.yaml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml
index bba2e5638..bf6e59e99 100644
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -25,7 +25,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50
diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_real.yaml
index b49426152..8b1f280c4 100644
--- a/lerobot/configs/policy/act_real.yaml
+++ b/lerobot/configs/policy/act_real.yaml
@@ -51,7 +51,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50
diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml
index a8b1c9b6c..dc2459a19 100644
--- a/lerobot/configs/policy/act_real_no_state.yaml
+++ b/lerobot/configs/policy/act_real_no_state.yaml
@@ -49,7 +49,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50