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Fix grad_clip_norm 0 -> 10, Fix normalization min_max to be per channel

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Remi Cadene
2024-03-04 17:26:34 +00:00
parent cfc304e870
commit e29fbb50e8
2 changed files with 68 additions and 42 deletions
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lerobot/configs/policy/diffusion.yaml
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@@ -59,7 +59,7 @@ policy:
use_ema: true
lr_scheduler: cosine
lr_warmup_steps: 500
grad_clip_norm: 0
grad_clip_norm: 10
noise_scheduler:
_target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler