fix(policies): support dp train when n_obs_steps=1#2430
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Ke-Wang1017
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Nov 13, 2025
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@Ke-Wang1017 Will this MR be considered to merge? |
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@michel-aractingi will this be merged? I tested and it works |
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@michel-aractingi Hello, could you please take a look at this PR? |
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Can someone review this PR？ @michel-aractingi @alexander-soare @aliberts @Cadene @AdilZouitine |
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What this does
#2277 (comment)
How it was tested
python -m lerobot.scripts.lerobot_train \ --output_dir=outputs/train/dp_test_nobssteps1_1104 \ --policy.type=diffusion \ --policy.push_to_hub=false \ --policy.crop_shape=[96,96] \ --policy.noise_scheduler_type="DDPM" \ --policy.n_obs_steps=1 \ --policy.horizon=32 \ --policy.n_action_steps=30 \ --policy.drop_n_last_frames=2 \ --dataset.repo_id=lerobot/pusht \ --seed=100000 \ --batch_size=64 \ --steps=20000 \ --log_freq=200 \ --save_freq=5000 \ --wandb.enable=falseHow to checkout & try? (for the reviewer)
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