Move normalization to policy for act and diffusion (#90)

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
2024-04-25 11:47:38 +02:00
parent c1bcf857c5
commit e760e4cd63
25 changed files with 543 additions and 288 deletions
--- a/lerobot/configs/env/aloha.yaml
+++ b/lerobot/configs/env/aloha.yaml
@@ -20,7 +20,5 @@ env:
  image_size: [3, 480, 640]
  episode_length: 400
  fps: ${fps}
-
-policy:
  state_dim: 14
  action_dim: 14
--- a/lerobot/configs/env/pusht.yaml
+++ b/lerobot/configs/env/pusht.yaml
@@ -20,7 +20,5 @@ env:
  image_size: 96
  episode_length: 300
  fps: ${fps}
-
-policy:
  state_dim: 2
  action_dim: 2
--- a/lerobot/configs/env/xarm.yaml
+++ b/lerobot/configs/env/xarm.yaml
@@ -19,7 +19,5 @@ env:
  image_size: 84
  episode_length: 25
  fps: ${fps}
-
-policy:
  state_dim: 4
  action_dim: 4