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Reward classifier and training (#528)

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Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
This commit is contained in:
Yoel
2024-12-09 10:21:50 +01:00
committed by AdilZouitine
parent b568de35ad
commit 58cc445921
10 changed files with 1131 additions and 7 deletions
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lerobot/common/robot_devices/control_utils.py
+19 -4
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@@ -128,14 +128,22 @@ def predict_action(observation, policy, device, use_amp):
return action
def init_keyboard_listener():
# Allow to exit early while recording an episode or resetting the environment,
# by tapping the right arrow key '->'. This might require a sudo permission
# to allow your terminal to monitor keyboard events.
def init_keyboard_listener(assign_rewards=False):
"""
Initializes a keyboard listener to enable early termination of an episode
or environment reset by pressing the right arrow key ('->'). This may require
sudo permissions to allow the terminal to monitor keyboard events.
Args:
assign_rewards (bool): If True, allows annotating the collected trajectory
with a binary reward at the end of the episode to indicate success.
"""
events = {}
events["exit_early"] = False
events["rerecord_episode"] = False
events["stop_recording"] = False
if assign_rewards:
events["next.reward"] = 0
if is_headless():
logging.warning(
@@ -160,6 +168,13 @@ def init_keyboard_listener():
print("Escape key pressed. Stopping data recording...")
events["stop_recording"] = True
events["exit_early"] = True
elif assign_rewards and key == keyboard.Key.space:
events["next.reward"] = 1 if events["next.reward"] == 0 else 0
print(
"Space key pressed. Assigning new reward to the subsequent frames. New reward:",
events["next.reward"],
)
except Exception as e:
print(f"Error handling key press: {e}")