backup wip

2024-03-19 18:50:04 +00:00
parent ea17f4ce50
commit 896a11f60e
16 changed files with 169 additions and 138 deletions
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -1,4 +1,7 @@
 def make_policy(cfg):
+    if cfg.policy.name != "diffusion" and cfg.rollout_batch_size > 1:
+        raise NotImplementedError("Only diffusion policy supports rollout_batch_size > 1 for the time being.")
+
    if cfg.policy.name == "tdmpc":
        from lerobot.common.policies.tdmpc.policy import TDMPC