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Move normalization to policy for act and diffusion (#90)

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-04-25 11:47:38 +02:00
committed by GitHub
parent c1bcf857c5
commit e760e4cd63
25 changed files with 543 additions and 288 deletions
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5
examples/4_train_policy.py
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@@ -34,7 +34,7 @@ dataset = make_dataset(hydra_cfg)
# If you're doing something different, you will likely need to change at least some of the defaults.
cfg = DiffusionConfig()
# TODO(alexander-soare): Remove LR scheduler from the policy.
policy = DiffusionPolicy(cfg, lr_scheduler_num_training_steps=training_steps)
policy = DiffusionPolicy(cfg, lr_scheduler_num_training_steps=training_steps, dataset_stats=dataset.stats)
policy.train()
policy.to(device)
@@ -62,7 +62,6 @@ while not done:
done = True
break
# Save the policy, configuration, and normalization stats for later use.
# Save the policy and configuration for later use.
policy.save(output_directory / "model.pt")
OmegaConf.save(hydra_cfg, output_directory / "config.yaml")
torch.save(dataset.transform.transforms[-1].stats, output_directory / "stats.pth")