search

robodhruv / visualnav-transformer

Official code and checkpoint release for mobile robot foundation models: GNM, ViNT, and NoMaD.
http://general-navigation-models.github.io
MIT License
425 stars 56 forks source link

Question about the train step of DDPM schedule #28

Closed yanghu819 closed 1 day ago

yanghu819 commented 1 month ago

Why your step is set as 10, I mean, it is so small, how you choose to set this param? Thanks

ajaysridhar0 commented 1 day ago

Good question - Using only 10 denoising steps allows our policy to run on edge compute (NVIDIA Jetson Orin). The minimal quality gain in the actions by adding more denoising steps (~100) was not worth it for our task.