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backup wip

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This commit is contained in:
Alexander Soare
2024-03-19 18:50:04 +00:00
parent ea17f4ce50
commit 896a11f60e
16 changed files with 169 additions and 138 deletions
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7
lerobot/common/policies/act/policy.py
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@@ -42,7 +42,7 @@ def kl_divergence(mu, logvar):
class ActionChunkingTransformerPolicy(AbstractPolicy):
def __init__(self, cfg, device, n_action_steps=1):
super().__init__()
super().__init__(n_action_steps)
self.cfg = cfg
self.n_action_steps = n_action_steps
self.device = device
@@ -147,7 +147,10 @@ class ActionChunkingTransformerPolicy(AbstractPolicy):
return loss
@torch.no_grad()
def select_action(self, observation, step_count):
def select_actions(self, observation, step_count):
if observation["image"].shape[0] != 1:
raise NotImplementedError("Batch size > 1 not handled")
# TODO(rcadene): remove unused step_count
del step_count