Use dataclass config for ACT

2024-04-15 09:39:23 +01:00
parent 34f00753eb
commit ef4bd9e25c
3 changed files with 83 additions and 37 deletions
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -54,7 +54,7 @@ policy:

  # Training and loss computation.
  dropout: 0.1
-  kl_weight: 10
+  kl_weight: 10.0

  # ---
  # TODO(alexander-soare): Remove these from the policy config.