Remove latency, tdmpc policy passes tests (TODO: make it work with online RL)

2024-04-07 16:01:22 +00:00
parent 44656d2706
commit 4371a5570d
8 changed files with 123 additions and 133 deletions
--- a/examples/3_train_policy.py
+++ b/examples/3_train_policy.py
@@ -37,7 +37,7 @@ policy = DiffusionPolicy(
    cfg_obs_encoder=cfg.obs_encoder,
    cfg_optimizer=cfg.optimizer,
    cfg_ema=cfg.ema,
-    n_action_steps=cfg.n_action_steps + cfg.n_latency_steps,
+    n_action_steps=cfg.n_action_steps,
    **cfg.policy,
 )
 policy.train()