Add test to make sure policy dataclass configs match yaml configs (#292)

2024-06-26 09:09:40 +01:00
parent 7d1542cae1
commit 342f429f1c
5 changed files with 54 additions and 13 deletions
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -99,7 +99,7 @@ policy:
  clip_sample_range: 1.0

  # Inference
-  num_inference_steps: 100
+  num_inference_steps: null  # if not provided, defaults to `num_train_timesteps`

  # Loss computation
  do_mask_loss_for_padding: false
--- a/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -54,7 +54,7 @@ policy:
  discount: 0.9

  # Inference.
-  use_mpc: false
+  use_mpc: true
  cem_iterations: 6
  max_std: 2.0
  min_std: 0.05