tests are passing for aloha/act policies, removes abstract policy

2024-04-09 03:28:56 +00:00
parent 73dfa3c8e3
commit 6902e01db0
6 changed files with 90 additions and 167 deletions
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -25,10 +25,10 @@ def make_policy(cfg):

        policy = ActionChunkingTransformerPolicy(
            cfg.policy,
-            cfg.device,
-            n_obs_steps=cfg.n_obs_steps,
-            n_action_steps=cfg.n_action_steps,
+            n_obs_steps=cfg.policy.n_obs_steps,
+            n_action_steps=cfg.policy.n_action_steps,
        )
+        policy.to(cfg.device)
    else:
        raise ValueError(cfg.policy.name)