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small fix

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This commit is contained in:
Remi Cadene
2024-07-16 21:46:13 +00:00
parent c594b5e79f
commit 4ea6481390
1 changed files with 3 additions and 5 deletions
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8
lerobot/configs/policy/diffusion_koch_real.yaml
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@@ -22,7 +22,7 @@ training:
online_steps: 0
eval_freq: -1
save_freq: 5000
log_freq: 100
log_freq: 10
save_checkpoint: true
batch_size: 64
@@ -36,10 +36,8 @@ training:
online_steps_between_rollouts: 1
delta_timestamps:
observation.images.cam_right_wrist: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
observation.images.cam_left_wrist: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
observation.images.cam_high: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
observation.images.cam_low: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
observation.images.laptop: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
observation.images.phone: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
observation.state: "[i / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1)]"
action: "[i / ${fps} + 1 / ${fps} for i in range(1 - ${policy.n_obs_steps}, 1 - ${policy.n_obs_steps} + ${policy.horizon})]"