From f54b7a46a7a720e679b0d988f6a6ccbb149022fd Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Fri, 17 May 2024 14:50:52 +0100 Subject: [PATCH] revision --- lerobot/common/policies/act/modeling_act.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index 4cef6253..72ebdd7a 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -105,6 +105,8 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): actions = self.model(batch)[0] # (batch_size, chunk_size, action_dim) actions = self.unnormalize_outputs({"action": actions})["action"] if self._ensembled_actions is None: + # Initializes `self._ensembled_action` to the sequence of actions predicted during the first + # time step of the episode. self._ensembled_actions = actions.clone() else: # self._ensembled_actions will have shape (batch_size, chunk_size - 1, action_dim). Compute