From 4ea6481390f26303141c218d86a4a0ec4fb07d34 Mon Sep 17 00:00:00 2001 From: Remi Cadene Date: Tue, 16 Jul 2024 21:46:13 +0000 Subject: [PATCH] small fix --- lerobot/configs/policy/diffusion_koch_real.yaml | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/lerobot/configs/policy/diffusion_koch_real.yaml b/lerobot/configs/policy/diffusion_koch_real.yaml index e0943f7c..728b8644 100644 --- a/lerobot/configs/policy/diffusion_koch_real.yaml +++ b/lerobot/configs/policy/diffusion_koch_real.yaml @@ -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})]"