From ad49a4f3f59ebdc9b1170a00a2a464042ba5518d Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Thu, 9 May 2024 13:53:20 +0100 Subject: [PATCH] backup wip --- lerobot/configs/policy/tdmpc.yaml | 2 +- lerobot/scripts/train.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/lerobot/configs/policy/tdmpc.yaml b/lerobot/configs/policy/tdmpc.yaml index eefbb303..d97a6b08 100644 --- a/lerobot/configs/policy/tdmpc.yaml +++ b/lerobot/configs/policy/tdmpc.yaml @@ -58,7 +58,7 @@ policy: discount: 0.9 # Inference. - use_mpc: false + use_mpc: true cem_iterations: 6 max_std: 2.0 min_std: 0.05 diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py index 7f0d36eb..fd9c6d10 100644 --- a/lerobot/scripts/train.py +++ b/lerobot/scripts/train.py @@ -303,6 +303,7 @@ def train(cfg: dict, out_dir=None, job_name=None): init_logging() if cfg.training.online_steps > 0 and cfg.eval.batch_size > 1: + # TODO(now) logging.warning("eval.batch_size > 1 not supported for online training steps") # Check device is available