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/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -77,3 +77,9 @@ policy:
  num_q: 5
  mlp_dim: 512
  latent_dim: 50
+
+  delta_timestamps:
+    observation.image: "[i / ${fps} for i in range(6)]"
+    observation.state: "[i / ${fps} for i in range(6)]"
+    action: "[i / ${fps} for i in range(5)]"
+    next.reward: "[i / ${fps} for i in range(5)]"