Fix policy defaults (#113)

lerobot/common/policies/act/configuration_act.py

@@ -77,7 +77,7 @@ class ActionChunkingTransformerConfig:
     # Normalization / Unnormalization
     input_normalization_modes: dict[str, str] = field(
         default_factory=lambda: {
-            "observation.image": "mean_std",
+            "observation.images.top": "mean_std",
             "observation.state": "mean_std",
         }
     )

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -43,7 +43,7 @@ class DiffusionPolicy(nn.Module):
     name = "diffusion"
 
     def __init__(
-        self, cfg: DiffusionConfig | None, lr_scheduler_num_training_steps: int = 0, dataset_stats=None
+        self, cfg: DiffusionConfig | None = None, lr_scheduler_num_training_steps: int = 0, dataset_stats=None
     ):
         """
         Args:

tests/test_policies.py

@@ -5,6 +5,8 @@ from lerobot.common.datasets.factory import make_dataset
 from lerobot.common.datasets.utils import cycle
 from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.utils import postprocess_action, preprocess_observation
+from lerobot.common.policies.act.modeling_act import ActionChunkingTransformerPolicy
+from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.common.policies.factory import make_policy
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.policy_protocol import Policy
@@ -113,6 +115,15 @@ def test_policy(env_name, policy_name, extra_overrides):
         new_policy.load_state_dict(policy.state_dict())
 
 
+@pytest.mark.parametrize("policy_cls", [DiffusionPolicy, ActionChunkingTransformerPolicy])
+def test_policy_defaults(policy_cls):
+    kwargs = {}
+    # TODO(alexander-soare): Remove this kwargs hack when we move the scheduler out of DP.
+    if policy_cls is DiffusionPolicy:
+        kwargs = {"lr_scheduler_num_training_steps": 1}
+    policy_cls(**kwargs)
+
+
 @pytest.mark.parametrize(
     "insert_temporal_dim",
     [