Logic/diffusion_policy
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fixed typo

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This commit is contained in:
Cheng Chi
2023-04-05 16:03:18 -04:00
parent 4eed454514
commit 27395b7500
29 changed files with 49 additions and 49 deletions
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6
diffusion_policy/dataset/real_pusht_image_dataset.py
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@@ -84,7 +84,7 @@ class RealPushTImageDataset(BaseImageDataset):
if delta_action:
# replace action as relative to previous frame
actions = replay_buffer['action'][:]
# suport positions only at this time
# support positions only at this time
assert actions.shape[1] <= 3
actions_diff = np.zeros_like(actions)
episode_ends = replay_buffer.episode_ends[:]
@@ -93,8 +93,8 @@ class RealPushTImageDataset(BaseImageDataset):
if i > 0:
start = episode_ends[i-1]
end = episode_ends[i]
# delta action is the difference between previous desired postion and the current
# it should be scheduled at the previous timestep for the curren timestep
# delta action is the difference between previous desired position and the current
# it should be scheduled at the previous timestep for the current timestep
# to ensure consistency with positional mode
actions_diff[start+1:end] = np.diff(actions[start:end], axis=0)
replay_buffer['action'][:] = actions_diff