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Fix unit tests, Refactor, Add pusht env, (TODO pusht replay buffer, image preprocessing)

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Cadene
2024-02-20 12:26:57 +00:00
parent fdfb2010fd
commit 3da6ffb2cb
10 changed files with 559 additions and 89 deletions
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lerobot/configs/default.yaml
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@@ -29,7 +29,7 @@ train_steps: 50000
# pixels
frame_stack: 1
num_channels: 32
img_size: 84
img_size: ${image_size}
# TDMPC
@@ -82,6 +82,8 @@ A_scaling: 3.0
# offline->online
offline_steps: 25000 # ${train_steps}/2
pretrained_model_path: ""
# pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/offline.pt"
# pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt"
balanced_sampling: true
demo_schedule: 0.5