draft

lerobot/common/policies/act/configuration_act.py

@@ -103,12 +103,21 @@ class ActionChunkingTransformerConfig:
     def __post_init__(self):
         """Input validation (not exhaustive)."""
         if not self.vision_backbone.startswith("resnet"):
-            raise ValueError("`vision_backbone` must be one of the ResNet variants.")
+            raise ValueError(
+                f"`vision_backbone` must be one of the ResNet variants. Got {self.vision_backbone}."
+            )
         if self.use_temporal_aggregation:
             raise NotImplementedError("Temporal aggregation is not yet implemented.")
         if self.n_action_steps > self.chunk_size:
             raise ValueError(
-                "The chunk size is the upper bound for the number of action steps per model invocation."
+                f"The chunk size is the upper bound for the number of action steps per model invocation. Got "
+                f"{self.n_action_steps} for `n_action_steps` and {self.chunk_size} for `chunk_size`."
+            )
+        if self.n_obs_steps != 1:
+            raise ValueError(
+                f"Multiple observation steps not handled yet. Got `nobs_steps={self.n_obs_steps}`"
             )
         if self.camera_names != ["top"]:
-            raise ValueError("For now, `camera_names` can only be ['top']")
+            raise ValueError(f"For now, `camera_names` can only be ['top']. Got {self.camera_names}.")
+        if len(set(self.camera_names)) != len(self.camera_names):
+            raise ValueError(f"`camera_names` should not have any repeated entries. Got {self.camera_names}.")