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backup wip

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This commit is contained in:
Alexander Soare
2024-04-02 19:11:53 +01:00
parent 11cbf1bea1
commit 2b928eedd4
8 changed files with 314 additions and 37 deletions
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3
lerobot/configs/policy/act.yaml
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@@ -1,6 +1,6 @@
# @package _global_
offline_steps: 1344000
offline_steps: 2000
online_steps: 0
eval_episodes: 1
@@ -24,7 +24,6 @@ policy:
weight_decay: 1e-4
grad_clip_norm: 10
backbone: resnet18
num_queries: ${horizon} # chunk_size
horizon: ${horizon} # chunk_size
kl_weight: 10
hidden_dim: 512