squash commits

2024-09-11 21:09:17 -04:00
parent 8ce0aa1485
commit 2ddf63b8f5
200 changed files with 1240 additions and 1186 deletions
@@ -45,7 +45,7 @@ model:
    _target_: model.diffusion.mlp_diffusion.DiffusionMLP
    horizon_steps: ${horizon_steps}
    transition_dim: ${transition_dim}
-    cond_dim: ${obs_dim}
+    cond_dim: ${eval:'${obs_dim} * ${cond_steps}'}
    time_dim: 16
    mlp_dims: [512, 512, 512]
    activation_type: ReLU
@@ -55,9 +55,7 @@ model:
  horizon_steps: ${horizon_steps}
  obs_dim: ${obs_dim}
  action_dim: ${action_dim}
-  transition_dim: ${transition_dim}
  denoising_steps: ${denoising_steps}
-  cond_steps: ${cond_steps}
  device: ${device}

 ema: