Merge remote-tracking branch 'origin/user/rcadene/2024_03_31_remove_torchrl' into user/rcadene/2024_03_31_remove_torchrl

2024-04-10 11:34:51 +00:00
parent 06573d7f67 91ff69d64c
commit 7c8eb7ff19
19 changed files with 1082 additions and 1805 deletions
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -23,11 +23,7 @@ def make_policy(cfg):
    elif cfg.policy.name == "act":
        from lerobot.common.policies.act.policy import ActionChunkingTransformerPolicy

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