From 44ba4ed566a5cefc8b39f7c017359e4e2cdc5143 Mon Sep 17 00:00:00 2001
From: Remi Cadene <re.cadene@gmail.com>
Date: Mon, 3 Jun 2024 14:47:06 +0000
Subject: [PATCH] Fix aloha (WIP: do not train in sim)

---
 examples/advanced/1_train_act_pusht/act_pusht.yaml | 2 +-
 lerobot/configs/policy/act.yaml                    | 2 +-
 lerobot/configs/policy/act_real.yaml               | 2 +-
 lerobot/configs/policy/act_real_no_state.yaml      | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/examples/advanced/1_train_act_pusht/act_pusht.yaml b/examples/advanced/1_train_act_pusht/act_pusht.yaml
index 38e542fb..d56a4ac5 100644
--- a/examples/advanced/1_train_act_pusht/act_pusht.yaml
+++ b/examples/advanced/1_train_act_pusht/act_pusht.yaml
@@ -28,7 +28,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50
diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml
index bba2e563..bf6e59e9 100644
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -25,7 +25,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50
diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_real.yaml
index b4942615..8b1f280c 100644
--- a/lerobot/configs/policy/act_real.yaml
+++ b/lerobot/configs/policy/act_real.yaml
@@ -51,7 +51,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50
diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml
index a8b1c9b6..dc2459a1 100644
--- a/lerobot/configs/policy/act_real_no_state.yaml
+++ b/lerobot/configs/policy/act_real_no_state.yaml
@@ -49,7 +49,7 @@ training:
   online_steps_between_rollouts: 1
 
   delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
+    action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
 
 eval:
   n_episodes: 50