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use loggable data types in act return dict

This commit is contained in:
Alexander Soare 2024-05-08 14:47:28 +01:00
parent e1addd40f4
commit 0dc6c7265e
1 changed files with 2 additions and 2 deletions
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lerobot/common/policies/act/modeling_act.py
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@ -101,7 +101,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin):
F.l1_loss(batch["action"], actions_hat, reduction="none") * ~batch["action_is_pad"].unsqueeze(-1) F.l1_loss(batch["action"], actions_hat, reduction="none") * ~batch["action_is_pad"].unsqueeze(-1)
).mean() ).mean()
loss_dict = {"l1_loss": l1_loss} loss_dict = {"l1_loss": l1_loss.item()}
if self.config.use_vae: if self.config.use_vae:
# Calculate Dₖₗ(latent_pdf || standard_normal). Note: After computing the KL-divergence for # Calculate Dₖₗ(latent_pdf || standard_normal). Note: After computing the KL-divergence for
# each dimension independently, we sum over the latent dimension to get the total # each dimension independently, we sum over the latent dimension to get the total
@ -110,7 +110,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin):
mean_kld = ( mean_kld = (
(-0.5 * (1 + log_sigma_x2_hat - mu_hat.pow(2) - (log_sigma_x2_hat).exp())).sum(-1).mean() (-0.5 * (1 + log_sigma_x2_hat - mu_hat.pow(2) - (log_sigma_x2_hat).exp())).sum(-1).mean()
) )
loss_dict["kld_loss"] = mean_kld loss_dict["kld_loss"] = mean_kld.item()
loss_dict["loss"] = l1_loss + mean_kld * self.config.kl_weight loss_dict["loss"] = l1_loss + mean_kld * self.config.kl_weight
else: else:
loss_dict["loss"] = l1_loss loss_dict["loss"] = l1_loss