Refactor train, eval_policy, logger, Add diffusion.yaml (WIP)

2024-02-26 01:10:09 +00:00
parent 5a219fed6e
commit 21670dce90
12 changed files with 306 additions and 443 deletions
--- a/lerobot/common/policies/diffusion.py
+++ b/lerobot/common/policies/diffusion.py
@@ -1,6 +1,8 @@
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
+from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
+from diffusion_policy.model.vision.multi_image_obs_encoder import MultiImageObsEncoder
 from diffusion_policy.policy.diffusion_unet_image_policy import DiffusionUnetImagePolicy