Sanitize cfg.policy, Fix skip_frame pusht.yaml

lerobot/common/policies/factory.py

@@ -2,20 +2,20 @@ from lerobot.common.policies.tdmpc import TDMPC
 
 
 def make_policy(cfg):
-    if cfg.policy == "tdmpc":
-        policy = TDMPC(cfg)
+    if cfg.policy.name == "tdmpc":
+        policy = TDMPC(cfg.policy)
     else:
-        raise ValueError(cfg.policy)
+        raise ValueError(cfg.policy.name)
 
-    if cfg.pretrained_model_path:
+    if cfg.policy.pretrained_model_path:
         # TODO(rcadene): hack for old pretrained models from fowm
-        if cfg.policy == "tdmpc" and "fowm" in cfg.pretrained_model_path:
+        if cfg.policy.name == "tdmpc" and "fowm" in cfg.policy.pretrained_model_path:
             if "offline" in cfg.pretrained_model_path:
                 policy.step[0] = 25000
             elif "final" in cfg.pretrained_model_path:
                 policy.step[0] = 100000
             else:
                 raise NotImplementedError()
-        policy.load(cfg.pretrained_model_path)
+        policy.load(cfg.policy.pretrained_model_path)
 
     return policy

lerobot/configs/default.yaml

@@ -22,16 +22,25 @@ pixels_only: False
 image_size: 84
 fps: 15
 
-reward_scale: 1.0
 
 
 # xarm_lift
+action_repeat: 2
 episode_length: 25
-modality: 'all'
-action_repeat: 2 # TODO(rcadene): verify we use this
-discount: 0.9
 train_steps: 50000
 
+
+policy:
+  name: tdmpc
+
+  reward_scale: 1.0
+
+  # xarm_lift
+  train_steps: ${train_steps}
+  episode_length: ${episode_length}
+  discount: 0.9
+  modality: 'all'
+
   # pixels
   frame_stack: 1
   num_channels: 32
@@ -39,9 +48,6 @@ img_size: ${image_size}
   state_dim: 4
   action_dim: 4
 
-# TDMPC
-policy: tdmpc
-
   # planning
   mpc: true
   iterations: 6
@@ -68,8 +74,8 @@ consistency_coef: 20
   rho: 0.5
   kappa: 0.1
   lr: 3e-4
-std_schedule: ${min_std}
-horizon_schedule: ${horizon}
+  std_schedule: ${policy.min_std}
+  horizon_schedule: ${policy.horizon}
   per: true
   per_alpha: 0.6
   per_beta: 0.4

lerobot/configs/pusht.yaml

@@ -10,7 +10,7 @@ hydra:
 env: pusht
 task: pusht
 image_size: 96
-frame_skip: 1
+action_repeat: 1
 state_dim: 2
 action_dim: 2
 fps: 10