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Fix stats override in ACT config (#161)

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This commit is contained in:
Alexander Soare
2024-05-09 15:16:47 +01:00
committed by GitHub
parent e89521dfa0
commit 473345fdf6
6 changed files with 20 additions and 20 deletions
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28
lerobot/configs/policy/diffusion.yaml
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@@ -7,6 +7,20 @@
seed: 100000
dataset_repo_id: lerobot/pusht
override_dataset_stats:
# TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model?
observation.image:
mean: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
std: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
# TODO(rcadene, alexander-soare): we override state and action stats to use the same as the pretrained model
# from the original codebase, but we should remove these and train our own pretrained model
observation.state:
min: [13.456424, 32.938293]
max: [496.14618, 510.9579]
action:
min: [12.0, 25.0]
max: [511.0, 511.0]
training:
offline_steps: 200000
online_steps: 0
@@ -34,20 +48,6 @@ eval:
n_episodes: 50
batch_size: 50
override_dataset_stats:
# TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model?
observation.image:
mean: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
std: [[[0.5]], [[0.5]], [[0.5]]] # (c,1,1)
# TODO(rcadene, alexander-soare): we override state and action stats to use the same as the pretrained model
# from the original codebase, but we should remove these and train our own pretrained model
observation.state:
min: [13.456424, 32.938293]
max: [496.14618, 510.9579]
action:
min: [12.0, 25.0]
max: [511.0, 511.0]
policy:
name: diffusion