Merge remote-tracking branch 'Cadene/user/rcadene/2024_03_31_remove_torchrl' into refactor_act_remove_torchrl

2024-04-05 17:52:39 +01:00
parent 1e71196fe3 26602269cd
commit ab2286025b
49 changed files with 256 additions and 2563 deletions
--- a/lerobot/configs/env/simxarm.yaml
+++ b/lerobot/configs/env/simxarm.yaml
@@ -17,7 +17,7 @@ env:
  from_pixels: True
  pixels_only: False
  image_size: 84
-  action_repeat: 2
+  # action_repeat: 2  # we can remove if policy has n_action_steps=2
  episode_length: 25
  fps: ${fps}

--- a/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -1,6 +1,6 @@
 # @package _global_

-n_action_steps: 1
+n_action_steps: 2
 n_obs_steps: 1

 policy: