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address style issue and docstring

This commit is contained in:
Akshay Kashyap 2024-05-08 10:16:45 -04:00
parent aea8312881
commit fe6899b91f
2 changed files with 2 additions and 1 deletions
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1
lerobot/common/policies/diffusion/configuration_diffusion.py
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@ -51,6 +51,7 @@ class DiffusionConfig:
use_film_scale_modulation: FiLM (https://arxiv.org/abs/1709.07871) is used for the Unet conditioning.
Bias modulation is used be default, while this parameter indicates whether to also use scale
modulation.
noise_scheduler_type: Name of the noise scheduler to use. Supported options: ["DDPM", "DDIM"].
num_train_timesteps: Number of diffusion steps for the forward diffusion schedule.
beta_schedule: Name of the diffusion beta schedule as per DDPMScheduler from Hugging Face diffusers.
beta_start: Beta value for the first forward-diffusion step.

2
lerobot/common/policies/diffusion/modeling_diffusion.py
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@ -13,8 +13,8 @@ import einops
import torch
import torch.nn.functional as F # noqa: N812
import torchvision
from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
from diffusers.schedulers.scheduling_ddim import DDIMScheduler
from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
from huggingface_hub import PyTorchModelHubMixin
from robomimic.models.base_nets import SpatialSoftmax
from torch import Tensor, nn