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Alexander Soare 2024-05-16 18:19:53 +01:00
parent b7b001c925
commit 06fe7aa34b
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lerobot/common/policies/act/modeling_act.py
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@ -103,6 +103,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin):
# the first action. # the first action.
if self.config.temporal_ensemble_momentum is not None: if self.config.temporal_ensemble_momentum is not None:
actions = self.model(batch)[0] # (batch_size, chunk_size, action_dim) actions = self.model(batch)[0] # (batch_size, chunk_size, action_dim)
actions = self.unnormalize_outputs({"action": actions})["action"]
if self._ensembled_actions is None: if self._ensembled_actions is None:
self._ensembled_actions = actions.clone() self._ensembled_actions = actions.clone()
else: else: