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Fix ACT temporal ensembling (#319)

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This commit is contained in:
Alexander Soare
2024-07-16 10:27:21 +01:00
committed by GitHub
parent 5e54e39795
commit c0101f0948
7 changed files with 173 additions and 31 deletions
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2
lerobot/configs/policy/act.yaml
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@@ -75,7 +75,7 @@ policy:
n_vae_encoder_layers: 4
# Inference.
temporal_ensemble_momentum: null
temporal_ensemble_coeff: null
# Training and loss computation.
dropout: 0.1

2
lerobot/configs/policy/act_real.yaml
View File

@@ -107,7 +107,7 @@ policy:
n_vae_encoder_layers: 4
# Inference.
temporal_ensemble_momentum: null
temporal_ensemble_coeff: null
# Training and loss computation.
dropout: 0.1

2
lerobot/configs/policy/act_real_no_state.yaml
View File

@@ -103,7 +103,7 @@ policy:
n_vae_encoder_layers: 4
# Inference.
temporal_ensemble_momentum: null
temporal_ensemble_coeff: null
# Training and loss computation.
dropout: 0.1