Small fix, Refactor diffusion, Diffusion runs (TODO: remove normalization in diffusion)

2024-03-02 17:04:39 +00:00
parent 45b4ecb727
commit 80785f8d0e
6 changed files with 449 additions and 10 deletions
--- a/lerobot/common/policies/tdmpc.py
+++ b/lerobot/common/policies/tdmpc.py
@@ -138,9 +138,6 @@ class TDMPC(nn.Module):
            "state": observation["state"].contiguous(),
        }
        action = self.act(obs, t0=t0, step=self.step.item())
-
-        # TODO(rcadene): hack to postprocess action (e.g. unnormalize)
-        # action = action * self.action_std + self.action_mean
        return action

    @torch.no_grad()