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caio-freitas / GraphDiffusionImitate

Master's thesis exploring diffusion-based graph generative models for imitation learning in robotics tasks 🧠🤖
MIT License
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Fix GraphDDPM's get_action() on transport task #121

Closed caio-freitas closed 7 months ago

caio-freitas commented 7 months ago

Getting 

    noisy_action = self.last_naction * (1 - self.noise_addition_std) + torch.randn((self.action_dim + 1, self.pred_horizon, self.node_feature_dim), device=self.device) * self.noise_addition_std
RuntimeError: The size of tensor a (21) must match the size of tensor b (19) at non-singleton dimension 0

when running the GraphDDPM evaluation on the transport task.