backup wip

2024-04-02 19:11:53 +01:00
parent 11cbf1bea1
commit 2b928eedd4
8 changed files with 314 additions and 37 deletions
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -1,5 +1,5 @@
 def make_policy(cfg):
-    if cfg.policy.name != "diffusion" and cfg.rollout_batch_size > 1:
+    if cfg.policy.name not in ["diffusion", "act"] and cfg.rollout_batch_size > 1:
        raise NotImplementedError("Only diffusion policy supports rollout_batch_size > 1 for the time being.")

    if cfg.policy.name == "tdmpc":