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backup wip

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This commit is contained in:
Alexander Soare
2024-04-16 12:51:32 +01:00
parent 5608e659e6
commit 03b08eb74e
8 changed files with 240 additions and 356 deletions
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4
lerobot/common/policies/factory.py
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@@ -9,7 +9,7 @@ def _policy_cfg_from_hydra_cfg(policy_cfg_class, hydra_cfg):
expected_kwargs = set(inspect.signature(policy_cfg_class).parameters)
assert set(hydra_cfg.policy).issuperset(
expected_kwargs
), f"Hydra config is missing arguments: {set(hydra_cfg.policy).difference(expected_kwargs)}"
), f"Hydra config is missing arguments: {set(expected_kwargs).difference(hydra_cfg.policy)}"
policy_cfg = policy_cfg_class(
**{
k: v
@@ -35,7 +35,7 @@ def make_policy(hydra_cfg: DictConfig):
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
policy_cfg = _policy_cfg_from_hydra_cfg(DiffusionConfig, hydra_cfg)
policy = DiffusionPolicy(policy_cfg)
policy = DiffusionPolicy(policy_cfg, hydra_cfg.offline_steps)
policy.to(get_safe_torch_device(hydra_cfg.device))
elif hydra_cfg.policy.name == "act":
from lerobot.common.policies.act.configuration_act import ActionChunkingTransformerConfig