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refactor: update configuration_tdmpc.py (#153) 

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
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Ikko Eltociear Ashimine 2024-05-09 02:13:51 +09:00 committed by GitHub
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lerobot/common/policies/tdmpc/configuration_tdmpc.py
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@ -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.