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Added normalization schemes and style checks

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This commit is contained in:
Michel Aractingi
2024-12-29 12:51:21 +00:00
parent 08ec971086
commit dc54d357ca
10 changed files with 150 additions and 156 deletions
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lerobot/scripts/train.py
+8 -6
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@@ -95,12 +95,14 @@ def make_optimizer_and_scheduler(cfg, policy):
lr_scheduler = None
elif policy.name == "sac":
optimizer = torch.optim.Adam([
{'params': policy.actor.parameters(), 'lr': policy.config.actor_lr},
{'params': policy.critic_ensemble.parameters(), 'lr': policy.config.critic_lr},
{'params': policy.temperature.parameters(), 'lr': policy.config.temperature_lr},
])
lr_scheduler = None
optimizer = torch.optim.Adam(
[
{"params": policy.actor.parameters(), "lr": policy.config.actor_lr},
{"params": policy.critic_ensemble.parameters(), "lr": policy.config.critic_lr},
{"params": policy.temperature.parameters(), "lr": policy.config.temperature_lr},
]
)
lr_scheduler = None
elif cfg.policy.name == "vqbet":
from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTOptimizer, VQBeTScheduler