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Tidy up yaml configs (#121)

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This commit is contained in:
Alexander Soare
2024-04-30 16:08:59 +01:00
committed by GitHub
parent e4e739f4f8
commit 9d60dce6f3
21 changed files with 142 additions and 207 deletions
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lerobot/common/policies/factory.py
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@@ -35,7 +35,7 @@ def make_policy(hydra_cfg: DictConfig, dataset_stats=None):
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
policy_cfg = _policy_cfg_from_hydra_cfg(DiffusionConfig, hydra_cfg)
policy = DiffusionPolicy(policy_cfg, hydra_cfg.offline_steps, dataset_stats)
policy = DiffusionPolicy(policy_cfg, hydra_cfg.training.offline_steps, dataset_stats)
policy.to(get_safe_torch_device(hydra_cfg.device))
elif hydra_cfg.policy.name == "act":
from lerobot.common.policies.act.configuration_act import ActionChunkingTransformerConfig