tests are passing for aloha/act policies, removes abstract policy

2024-04-09 03:28:56 +00:00
parent 73dfa3c8e3
commit 6902e01db0
6 changed files with 90 additions and 167 deletions
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -50,8 +50,12 @@ policy:
  utd: 1

  n_obs_steps: ${n_obs_steps}
+  n_action_steps: ${n_action_steps}

  temporal_agg: false

  state_dim: ???
  action_dim: ???
+
+  delta_timestamps:
+    action: "[i / ${fps} for i in range(${horizon})]"