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revert dp changes, make act and tdmpc batch friendly

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This commit is contained in:
Alexander Soare
2024-03-18 19:18:21 +00:00
parent 09ddd9bf92
commit 88347965c2
8 changed files with 32 additions and 58 deletions
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4
lerobot/common/policies/diffusion/policy.py
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@@ -7,7 +7,7 @@ import torch
from lerobot.common.policies.abstract import AbstractPolicy
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, RgbEncoder
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder
class DiffusionPolicy(AbstractPolicy):
@@ -38,7 +38,7 @@ class DiffusionPolicy(AbstractPolicy):
self.cfg = cfg
noise_scheduler = hydra.utils.instantiate(cfg_noise_scheduler)
rgb_model = RgbEncoder(input_shape=shape_meta.obs.image.shape, **cfg_rgb_model)
rgb_model = hydra.utils.instantiate(cfg_rgb_model)
obs_encoder = MultiImageObsEncoder(
rgb_model=rgb_model,
**cfg_obs_encoder,