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Mention temporal ensemble flag in README.md

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Tony Z. Zhao
2023-05-04 15:41:27 -07:00
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parent 0f54d10d7f
commit 1d4c4945a2
1 changed files with 4 additions and 3 deletions
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README.md
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@@ -71,12 +71,13 @@ To train ACT:
--task_name sim_transfer_cube_scripted \
--ckpt_dir <ckpt dir> \
--policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 512 --batch_size 8 --dim_feedforward 3200 \
--num_epochs 2000 --lr 1e-5 \
--num_epochs 2000 --lr 1e-5 \temporal_agg
--seed 0
To evaluate the policy, run the same command but add ``--eval``. The success rate
should be around 90% for transfer cube, and around 50% for insertion.
To evaluate the policy, run the same command but add ``--eval``. This loads the best validation checkpoint.
The success rate should be around 90% for transfer cube, and around 50% for insertion.
To enable temporal ensembling, add flag ``--temporal_agg``.
Videos will be saved to ``<ckpt_dir>`` for each rollout.
You can also add ``--onscreen_render`` to see real-time rendering during evaluation.