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Integrate pusht env from diffusion

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This commit is contained in:
Simon Alibert
2024-03-10 16:33:03 +01:00
parent 302b78962c
commit 6c867d78ef
10 changed files with 801 additions and 26 deletions
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5
lerobot/configs/policy/diffusion.yaml
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@@ -74,7 +74,6 @@ noise_scheduler:
prediction_type: epsilon # or sample
obs_encoder:
# _target_: diffusion_policy.model.vision.multi_image_obs_encoder.MultiImageObsEncoder
shape_meta: ${shape_meta}
# resize_shape: null
# crop_shape: [76, 76]
@@ -85,12 +84,12 @@ obs_encoder:
imagenet_norm: True
rgb_model:
_target_: diffusion_policy.model.vision.model_getter.get_resnet
_target_: lerobot.common.policies.diffusion.pytorch_utils.get_resnet
name: resnet18
weights: null
ema:
_target_: diffusion_policy.model.diffusion.ema_model.EMAModel
_target_: lerobot.common.policies.diffusion.model.ema_model.EMAModel
update_after_step: 0
inv_gamma: 1.0
power: 0.75