From 1d4c4945a2cf330b98128c376044521c44c0c523 Mon Sep 17 00:00:00 2001
From: "Tony Z. Zhao" <46111210+tonyzhaozh@users.noreply.github.com>
Date: Thu, 4 May 2023 15:41:27 -0700
Subject: [PATCH] Mention temporal ensemble flag in README.md

---
 README.md | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index f9e4830..921146d 100644
--- a/README.md
+++ b/README.md
@@ -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.