fix vqbet

2024-07-17 00:45:34 +02:00 · 2024-07-17 00:45:34 +02:00 · df303d7311
parent 4ea6481390
commit df303d7311
1 changed files with 1 additions and 1 deletions
--- a/lerobot/common/policies/vqbet/modeling_vqbet.py
+++ b/lerobot/common/policies/vqbet/modeling_vqbet.py
@ -298,7 +298,7 @@ class VQBeTModel(nn.Module):
        # bin prediction head / offset prediction head part of VQ-BeT
        self.action_head = VQBeTHead(config)

-        num_tokens = self.config.n_action_pred_token + self.config.action_chunk_size - 1
+        num_tokens = self.config.n_action_pred_token
        self.register_buffer(
            "select_target_actions_indices",
            torch.row_stack([torch.arange(i, i + self.config.action_chunk_size) for i in range(num_tokens)]),