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Fix ACT delta_timestamps: first action should starts at 1/fps, not 0

This commit is contained in:
Remi Cadene 2024-06-01 16:01:55 +00:00
parent 5b74205e16
commit 205e0c9dde
3 changed files with 3 additions and 3 deletions
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2
lerobot/configs/policy/act.yaml
View File

@ -25,7 +25,7 @@ training:
online_steps_between_rollouts: 1 online_steps_between_rollouts: 1
delta_timestamps: delta_timestamps:
action: "[i / ${fps} for i in range(${policy.chunk_size})]" action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
eval: eval:
n_episodes: 50 n_episodes: 50

2
lerobot/configs/policy/act_real.yaml
View File

@ -51,7 +51,7 @@ training:
online_steps_between_rollouts: 1 online_steps_between_rollouts: 1
delta_timestamps: delta_timestamps:
action: "[i / ${fps} for i in range(${policy.chunk_size})]" action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
eval: eval:
n_episodes: 50 n_episodes: 50

2
lerobot/configs/policy/act_real_no_state.yaml
View File

@ -49,7 +49,7 @@ training:
online_steps_between_rollouts: 1 online_steps_between_rollouts: 1
delta_timestamps: delta_timestamps:
action: "[i / ${fps} for i in range(${policy.chunk_size})]" action: "[i / ${fps} for i in range(1, ${policy.chunk_size} + 1)]"
eval: eval:
n_episodes: 50 n_episodes: 50