From d2ae384b8adf3ca31e1a3f3f1f0b66de9ad178b8 Mon Sep 17 00:00:00 2001 From: Radek Osmulski Date: Fri, 17 May 2024 18:07:01 +1000 Subject: [PATCH] set n_encoder_layers for ACT to 7 --- lerobot/common/policies/act/configuration_act.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index be444b06..ab0f95c0 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/lerobot/common/policies/act/configuration_act.py @@ -115,7 +115,7 @@ class ACTConfig: dim_feedforward: int = 3200 feedforward_activation: str = "relu" n_encoder_layers: int = 4 - n_decoder_layers: int = 1 + n_decoder_layers: int = 7 # VAE. use_vae: bool = True latent_dim: int = 32