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Explain why n_encoder_layers=1 (#193)

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Alexander Soare
2024-05-17 15:05:40 +01:00
committed by GitHub
parent 625f0557ef
commit 5ec0af62c6
2 changed files with 6 additions and 0 deletions
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3
lerobot/common/policies/act/configuration_act.py
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@@ -119,6 +119,9 @@ class ACTConfig:
dim_feedforward: int = 3200 dim_feedforward: int = 3200
feedforward_activation: str = "relu" feedforward_activation: str = "relu"
n_encoder_layers: int = 4 n_encoder_layers: int = 4
# Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code
# that means only the first layer is used. Here we match the original implementation by setting this to 1.
# See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521.
n_decoder_layers: int = 1 n_decoder_layers: int = 1
# VAE. # VAE.
use_vae: bool = True use_vae: bool = True

3
lerobot/configs/policy/act.yaml
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@@ -66,6 +66,9 @@ policy:
dim_feedforward: 3200 dim_feedforward: 3200
feedforward_activation: relu feedforward_activation: relu
n_encoder_layers: 4 n_encoder_layers: 4
# Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code
# that means only the first layer is used. Here we match the original implementation by setting this to 1.
# See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521.
n_decoder_layers: 1 n_decoder_layers: 1
# VAE. # VAE.
use_vae: true use_vae: true