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Added Gripper quantization wrapper and grasp penalty

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removed complementary info from buffer and learner server
removed get_gripper_action function
added gripper parameters to `common/envs/configs.py`
This commit is contained in:
Michel Aractingi
2025-04-01 11:08:15 +02:00
committed by Adil Zouitine
parent f5cfd9fd48
commit c621077b62
5 changed files with 66 additions and 99 deletions
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lerobot/scripts/server/learner_server.py
-3
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@@ -375,7 +375,6 @@ def add_actor_information_and_train(
observations = batch["state"]
next_observations = batch["next_state"]
done = batch["done"]
complementary_info = batch["complementary_info"]
check_nan_in_transition(observations=observations, actions=actions, next_state=next_observations)
observation_features, next_observation_features = get_observation_features(
@@ -391,7 +390,6 @@ def add_actor_information_and_train(
"done": done,
"observation_feature": observation_features,
"next_observation_feature": next_observation_features,
"complementary_info": complementary_info,
}
# Use the forward method for critic loss
@@ -450,7 +448,6 @@ def add_actor_information_and_train(
"done": done,
"observation_feature": observation_features,
"next_observation_feature": next_observation_features,
"complementary_info": complementary_info,
}
# Use the forward method for critic loss