From 75dd478b54fc90c74333a36d918af6fc4c936a7b Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Fri, 3 May 2024 11:05:59 +0200 Subject: [PATCH] Revert "Revert "Override action queue defaults"" This reverts commit 5647d71c08cbfe63598cc3a0f75bb8b5c1b22e2d. --- .../aloha_act/actions.safetensors | Bin 51248 -> 5104 bytes tests/scripts/save_policy_to_safetensor.py | 10 +++++++--- tests/test_policies.py | 10 +++++++--- 3 files changed, 14 insertions(+), 6 deletions(-) diff --git a/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors index 482881063d0daaaf9f7d260f40569ac7ac8db40a..105881edda8c55de55ccbc84ed07faa0870c7638 100644 GIT binary patch delta 105 zcmdlmf%$_vR|XRU7*s1wY&4u`?K=4@lOd0VrJ0VQv584+t&Y;Kk!a2;V_zP zz{taBI{6^C;pBWqp2>ymhLhJa@=m@aU^MwHkRK>uI9Z#CcXFDT;p8kPZsuAAh0Pnb HH3$L#WJe#~ literal 51248 zcmbSS`Ckm)_qJrKRJ5pUl`R>xFLcjMLbfDH`!dZ;s|xAuZB0V^CS*$p2_Z%3T-mZE 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["policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"]), - ("aloha", "act", []), + ("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"]), ] for env, policy, extra_overrides in env_policies: save_policy_to_safetensors("tests/data/save_policy_to_safetensors", env, policy, extra_overrides) diff --git a/tests/test_policies.py b/tests/test_policies.py index c61a8f26..efc33281 100644 --- a/tests/test_policies.py +++ b/tests/test_policies.py @@ -239,9 +239,13 @@ def test_normalize(insert_temporal_dim): @pytest.mark.parametrize( "env_name, policy_name, extra_overrides", [ - ("xarm", "tdmpc", []), - ("pusht", "diffusion", ["policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"]), - ("aloha", "act", []), + ("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"]), ], ) # As artifacts have been generated on an x86_64 kernel, this test won't