Add obs queue to pusht, Set n_obs_steps=2 for diffusion (Not fully tested)

2024-03-03 13:21:31 +00:00
parent cbbed590a9
commit 0f2fa4d9ef
3 changed files with 85 additions and 14 deletions
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -13,7 +13,7 @@ shape_meta:
    shape: [2]

 horizon: 16
-n_obs_steps: 1 # TODO(rcadene): before 2
+n_obs_steps: 2
 n_action_steps: 8
 n_latency_steps: 0
 dataset_obs_steps: ${n_obs_steps}