From 0ea7a8b2a32b76dd07b80ddee82c9434bdec193c Mon Sep 17 00:00:00 2001 From: Ikko Eltociear Ashimine Date: Thu, 9 May 2024 02:13:51 +0900 Subject: [PATCH] refactor: update configuration_tdmpc.py (#153) Co-authored-by: Alexander Soare --- lerobot/common/policies/tdmpc/configuration_tdmpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/policies/tdmpc/configuration_tdmpc.py b/lerobot/common/policies/tdmpc/configuration_tdmpc.py index 82e3a507..00d00913 100644 --- a/lerobot/common/policies/tdmpc/configuration_tdmpc.py +++ b/lerobot/common/policies/tdmpc/configuration_tdmpc.py @@ -47,7 +47,7 @@ class TDMPCConfig: elite_weighting_temperature: The temperature to use for softmax weighting (by trajectory value) of the elites, when updating the gaussian parameters for CEM. gaussian_mean_momentum: Momentum (α) used for EMA updates of the mean parameter μ of the gaussian - paramters optimized in CEM. Updates are calculated as μ⁻ ← αμ⁻ + (1-α)μ. + parameters optimized in CEM. Updates are calculated as μ⁻ ← αμ⁻ + (1-α)μ. max_random_shift_ratio: Maximum random shift (as a proportion of the image size) to apply to the image(s) (in units of pixels) for training-time augmentation. If set to 0, no such augmentation is applied. Note that the input images are assumed to be square for this augmentation.