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backup wip

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This commit is contained in:
Alexander Soare
2024-04-05 11:03:28 +01:00
parent 3a4dfa82fe
commit edb125b351
3 changed files with 188 additions and 213 deletions
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9
lerobot/configs/policy/act.yaml
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@@ -21,24 +21,27 @@ policy:
lr: 1e-5
lr_backbone: 1e-5
pretrained_backbone: true
weight_decay: 1e-4
grad_clip_norm: 10
backbone: resnet18
horizon: ${horizon} # chunk_size
kl_weight: 10
hidden_dim: 512
d_model: 512
dim_feedforward: 3200
vae_enc_layers: 4
enc_layers: 4
dec_layers: 1
nheads: 8
num_heads: 8
#camera_names: [top, front_close, left_pillar, right_pillar]
camera_names: [top]
dilation: false
dropout: 0.1
pre_norm: false
activation: relu
latent_dim: 32
vae: true
use_vae: true
batch_size: 8