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Merge branch 'user/alexander-soare/train_pusht' into user/alexander-soare/multistep_policy_and_serial_env

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Alexander Soare
2024-03-14 16:06:21 +00:00
parent 4822d63dbe 736bc969ca
commit a222c88c99
5 changed files with 241 additions and 19 deletions
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lerobot/common/policies/diffusion/policy.py
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@@ -7,7 +7,7 @@ import torch
from lerobot.common.policies.abstract import AbstractPolicy
from lerobot.common.policies.diffusion.diffusion_unet_image_policy import DiffusionUnetImagePolicy
from lerobot.common.policies.diffusion.model.lr_scheduler import get_scheduler
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder
from lerobot.common.policies.diffusion.model.multi_image_obs_encoder import MultiImageObsEncoder, RgbEncoder
class DiffusionPolicy(AbstractPolicy):
@@ -38,7 +38,7 @@ class DiffusionPolicy(AbstractPolicy):
self.cfg = cfg
noise_scheduler = hydra.utils.instantiate(cfg_noise_scheduler)
rgb_model = hydra.utils.instantiate(cfg_rgb_model)
rgb_model = RgbEncoder(input_shape=shape_meta.obs.image.shape, **cfg_rgb_model)
obs_encoder = MultiImageObsEncoder(
rgb_model=rgb_model,
**cfg_obs_encoder,