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Alexander Soare
2024-04-16 12:51:32 +01:00
parent 5608e659e6
commit 03b08eb74e
8 changed files with 240 additions and 356 deletions
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lerobot/common/policies/act/configuration_act.py
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@@ -26,8 +26,8 @@ class ActionChunkingTransformerConfig:
image_normalization_std: Value by which to divide the input image pixels (after the mean has been
subtracted).
vision_backbone: Name of the torchvision resnet backbone to use for encoding images.
use_pretrained_backbone: Whether the backbone should be initialized with ImageNet, pretrained weights
from torchvision.
use_pretrained_backbone: Whether the backbone should be initialized with pretrained weights from
torchvision.
replace_final_stride_with_dilation: Whether to replace the ResNet's final 2x2 stride with a dilated
convolution.
pre_norm: Whether to use "pre-norm" in the transformer blocks.