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Fix stats override in ACT config (#161)

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This commit is contained in:
Alexander Soare
2024-05-09 15:16:47 +01:00
committed by GitHub
parent e89521dfa0
commit 473345fdf6
6 changed files with 20 additions and 20 deletions
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12
lerobot/configs/policy/act.yaml
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@@ -3,6 +3,12 @@
seed: 1000
dataset_repo_id: lerobot/aloha_sim_insertion_human
override_dataset_stats:
observation.images.top:
# stats from imagenet, since we use a pretrained vision model
mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1)
std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
training:
offline_steps: 80000
online_steps: 0
@@ -18,12 +24,6 @@ training:
grad_clip_norm: 10
online_steps_between_rollouts: 1
override_dataset_stats:
observation.images.top:
# stats from imagenet, since we use a pretrained vision model
mean: [[[0.485]], [[0.456]], [[0.406]]] # (c,1,1)
std: [[[0.229]], [[0.224]], [[0.225]]] # (c,1,1)
delta_timestamps:
action: "[i / ${fps} for i in range(${policy.chunk_size})]"