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Changed the init_final value to center the starting mean and std of the policy

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-13 16:42:43 +01:00
parent ddcc0415e4
commit 140e30e386
4 changed files with 5 additions and 4 deletions
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lerobot/scripts/server/actor_server.py
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@@ -327,7 +327,7 @@ def send_transitions_in_chunks(transitions: list, message_queue, chunk_size: int
def get_frequency_stats(list_policy_time: list[float]) -> dict[str, float]:
stats = {}
list_policy_fps = [1.0 / t for t in list_policy_time]
if len(list_policy_fps) > 0:
if len(list_policy_fps) > 1:
policy_fps = mean(list_policy_fps)
quantiles_90 = quantiles(list_policy_fps, n=10)[-1]
logging.debug(f"[ACTOR] Average policy frame rate: {policy_fps}")