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hma

Running on Zero

liruiw commited on Dec 9, 2024

Commit

dded309

1 Parent(s): b4e01e8

fix

Files changed (1) hide show

app.py CHANGED Viewed

@@ -14,7 +14,7 @@ genie = GenieSimulator(
     quantize=False,
     backbone_type='stmar',
     backbone_ckpt='data/mar_ckpt/langtable',
-    prompt_horizon=2,
     action_stride=1,
     domain='language_table',
 )
@@ -22,7 +22,7 @@ prompt_image = np.tile(
     np.array(image), (genie.prompt_horizon, 1, 1, 1)
 ).astype(np.uint8)
 prompt_action = np.zeros(
-    (genie.prompt_horizon, genie.action_stride, 2)
 ).astype(np.float32)
 genie.set_initial_state((prompt_image, prompt_action))
 image = genie.reset()

     quantize=False,
     backbone_type='stmar',
     backbone_ckpt='data/mar_ckpt/langtable',
+    prompt_horizon=3,
     action_stride=1,
     domain='language_table',
 )
     np.array(image), (genie.prompt_horizon, 1, 1, 1)
 ).astype(np.uint8)
 prompt_action = np.zeros(
+    (genie.prompt_horizon - 1, genie.action_stride, 2)
 ).astype(np.float32)
 genie.set_initial_state((prompt_image, prompt_action))
 image = genie.reset()