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early training loss as expected

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Alexander Soare
2024-03-11 13:34:04 +00:00
parent fab2b3240b
commit 2a01487494
5 changed files with 232 additions and 8 deletions
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4
lerobot/common/policies/diffusion/policy.py
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@@ -7,7 +7,7 @@ import torch.nn as nn
from lerobot.common.policies.diffusion.diffusion_unet_image_policy import DiffusionUnetImagePolicy
from lerobot.common.policies.diffusion.model.lr_scheduler import get_scheduler
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder, RgbEncoder
class DiffusionPolicy(nn.Module):
@@ -38,7 +38,7 @@ class DiffusionPolicy(nn.Module):
self.cfg = cfg
noise_scheduler = hydra.utils.instantiate(cfg_noise_scheduler)
rgb_model = hydra.utils.instantiate(cfg_rgb_model)
rgb_model = RgbEncoder(input_shape=shape_meta.obs.image.shape, **cfg_rgb_model)
obs_encoder = MultiImageObsEncoder(
rgb_model=rgb_model,
**cfg_obs_encoder,