revision

lerobot/configs/policy/diffusion.yaml

@@ -1,5 +1,9 @@
 # @package _global_
 
+# Defaults for training for the PushT dataset as per https://github.com/real-stanford/diffusion_policy.
+# Note: We do not track EMA model weights as we discovered it does not improve the results. See
+#       https://github.com/huggingface/lerobot/pull/134 for more details.
+
 seed: 100000
 dataset_repo_id: lerobot/pusht
 

tests/scripts/save_policy_to_safetensor.py

@@ -88,14 +88,8 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override
 
 
 if __name__ == "__main__":
-    env_policies = [
-        # ("xarm", "tdmpc", ["policy.n_action_repeats=2"]),
-        # (
-        #     "pusht",
-        #     "diffusion",
-        #     ["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"],
-        # ),
-        # ("aloha", "act", ["policy.n_action_steps=10"]),
-    ]
+    # Instructions: include the policies that you want to save artifacts for here. Please make sure to revert
+    # your changes when you are done.
+    env_policies = []
     for env, policy, extra_overrides in env_policies:
         save_policy_to_safetensors("tests/data/save_policy_to_safetensors", env, policy, extra_overrides)

tests/test_policies.py

@@ -242,7 +242,7 @@ def test_normalize(insert_temporal_dim):
             "diffusion",
             ["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"],
         ),
-        # ("aloha", "act", ["policy.n_action_steps=10"]),
+        ("aloha", "act", ["policy.n_action_steps=10"]),
     ],
 )
 # As artifacts have been generated on an x86_64 kernel, this test won't
@@ -254,7 +254,7 @@ def test_backward_compatibility(env_name, policy_name, extra_overrides):
         1. Inspect the differences in policy outputs and make sure you can account for them. Your PR should
            include a report on what changed and how that affected the outputs.
         2. Go to the `if __name__ == "__main__"` block of `test/scripts/save_policy_to_safetensors.py` and
-           comment in the policies you want to update the test artifacts for.
+           add the policies you want to update the test artifacts for.
         3. Run `python test/scripts/save_policy_to_safetensors.py`. The test artifact should be updated.
         4. Check that this test now passes.
         5. Remember to restore `test/scripts/save_policy_to_safetensors.py` to its original state.