backup wip

2024-03-20 09:17:02 +00:00
parent 5332766a82
commit 32e3f71dd1
5 changed files with 75 additions and 26 deletions
--- a/lerobot/common/policies/diffusion/diffusion_unet_image_policy.py
+++ b/lerobot/common/policies/diffusion/diffusion_unet_image_policy.py
@@ -190,11 +190,10 @@ class DiffusionUnetImagePolicy(BaseImagePolicy):

        # run sampling
        nsample = self.conditional_sample(
-            cond_data, cond_mask, local_cond=local_cond, global_cond=global_cond, **self.kwargs
+            cond_data, cond_mask, local_cond=local_cond, global_cond=global_cond
        )

        action_pred = nsample[..., :action_dim]
-
        # get action
        start = n_obs_steps - 1
        end = start + self.n_action_steps