Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act

2024-04-09 08:36:28 +01:00
parent 50e4c8050c 19e7661b8d
commit e6c6c2367f
13 changed files with 109 additions and 247 deletions
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -51,6 +51,7 @@ policy:
  utd: 1

  n_obs_steps: ${n_obs_steps}
+  n_action_steps: ${n_action_steps}

  temporal_agg: false

--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -38,6 +38,7 @@ policy:

  horizon: ${horizon}
  n_obs_steps: ${n_obs_steps}
+  n_action_steps: ${n_action_steps}
  num_inference_steps: 100
  obs_as_global_cond: ${obs_as_global_cond}
  # crop_shape: null
--- a/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -36,7 +36,6 @@ policy:
  log_std_max: 2

  # learning
-  batch_size: 256
  max_buffer_size: 10000
  horizon: 5
  reward_coef: 0.5