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Refactor TD-MPC (#103)

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Co-authored-by: Cadene <re.cadene@gmail.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Alexander Soare
2024-05-01 16:40:04 +01:00
committed by GitHub
parent a4891095e4
commit d1855a202a
17 changed files with 1105 additions and 1205 deletions
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5
lerobot/common/policies/factory.py
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@@ -24,7 +24,10 @@ def _policy_cfg_from_hydra_cfg(policy_cfg_class, hydra_cfg):
def get_policy_and_config_classes(name: str) -> tuple[Policy, object]:
"""Get the policy's class and config class given a name (matching the policy class' `name` attribute)."""
if name == "tdmpc":
raise NotImplementedError("Coming soon!")
from lerobot.common.policies.tdmpc.configuration_tdmpc import TDMPCConfig
from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
return TDMPCPolicy, TDMPCConfig
elif name == "diffusion":
from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy