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[HIL-SERL] Review feedback modifications (#1112)

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This commit is contained in:
Adil Zouitine
2025-05-15 15:24:41 +02:00
committed by GitHub
parent c7a3973653
commit 2051dd38fc
17 changed files with 504 additions and 180 deletions
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lerobot/common/policies/sac/modeling_sac.py
+6 -7
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@@ -27,7 +27,7 @@ import torch.nn.functional as F # noqa: N812
from torch import Tensor
from torch.distributions import MultivariateNormal, TanhTransform, Transform, TransformedDistribution
from lerobot.common.policies.normalize import Normalize, Unnormalize
from lerobot.common.policies.normalize import NormalizeBuffer, UnnormalizeBuffer
from lerobot.common.policies.pretrained import PreTrainedPolicy
from lerobot.common.policies.sac.configuration_sac import SACConfig
from lerobot.common.policies.utils import get_device_from_parameters
@@ -394,17 +394,16 @@ class SACPolicy(
self.normalize_inputs = nn.Identity()
self.normalize_targets = nn.Identity()
self.unnormalize_outputs = nn.Identity()
if self.config.dataset_stats:
if self.config.dataset_stats is not None:
params = _convert_normalization_params_to_tensor(self.config.dataset_stats)
self.normalize_inputs = Normalize(
self.normalize_inputs = NormalizeBuffer(
self.config.input_features, self.config.normalization_mapping, params
)
stats = dataset_stats or params
self.normalize_targets = Normalize(
self.normalize_targets = NormalizeBuffer(
self.config.output_features, self.config.normalization_mapping, stats
)
self.unnormalize_outputs = Unnormalize(
self.unnormalize_outputs = UnnormalizeBuffer(
self.config.output_features, self.config.normalization_mapping, stats
)
@@ -506,7 +505,7 @@ class SACObservationEncoder(nn.Module):
if not self.has_images:
return
if self.config.vision_encoder_name:
if self.config.vision_encoder_name is not None:
self.image_encoder = PretrainedImageEncoder(self.config)
else:
self.image_encoder = DefaultImageEncoder(self.config)