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Integrate diffusion policy

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This commit is contained in:
Simon Alibert
2024-03-10 15:31:17 +01:00
parent 59397fb44a
commit 302b78962c
16 changed files with 2850 additions and 13 deletions
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lerobot/common/policies/diffusion/policy.py
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@@ -4,10 +4,10 @@ import time
import hydra
import torch
import torch.nn as nn
from diffusion_policy.model.common.lr_scheduler import get_scheduler
from .diffusion_unet_image_policy import DiffusionUnetImagePolicy
from .multi_image_obs_encoder import MultiImageObsEncoder
from lerobot.common.policies.diffusion.diffusion_unet_image_policy import DiffusionUnetImagePolicy
from lerobot.common.policies.diffusion.model.lr_scheduler import get_scheduler
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder
class DiffusionPolicy(nn.Module):