Support for DDIMScheduler in Diffusion Policy (#146)

2024-05-08 13:05:16 -04:00
parent f5de57b385
commit 460df2ccea
3 changed files with 25 additions and 2 deletions
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -85,6 +85,7 @@ policy:
  diffusion_step_embed_dim: 128
  use_film_scale_modulation: True
  # Noise scheduler.
+  noise_scheduler_type: DDPM
  num_train_timesteps: 100
  beta_schedule: squaredcos_cap_v2
  beta_start: 0.0001