Fix diffusion (rm transpose), Add prefetch

2024-02-28 17:45:01 +00:00
parent cf5063e50e
commit ac90b9c3ee
6 changed files with 52 additions and 11 deletions
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -21,7 +21,12 @@ past_action_visible: False
 keypoint_visible_rate: 1.0
 obs_as_global_cond: True

-offline_steps: 50000
+eval_episodes: 50
+eval_freq: 10000
+save_freq: 100000
+log_freq: 250
+
+offline_steps: 1344000
 online_steps: 0

 policy:
@@ -48,8 +53,7 @@ policy:
  per_alpha: 0.6
  per_beta: 0.4

-  balanced_sampling: true
-
+  balanced_sampling: false
  utd: 1
  offline_steps: ${offline_steps}
  use_ema: true