feat(act): add a config option for adding a bottleneck layer after encoding joint states #402
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What this does
Adds a config option to introduce a bottleneck layer to ACT between the joint states and the rest of the model. Suggested by @Cadene on Discord.
How it was tested
I trained a model using this option. Not 100% sure if it was better or worse but a good tool to have.
Also tested not having the flag in the config, it defaults to false.
How to checkout & try? (for the reviewer)
You need to have an ALOHA dataset to try it out of the box. Otherwise could change
act_koch_real
to turn on the flag, then train a model.