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Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment.

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-10 16:03:39 +01:00
committed by AdilZouitine
parent 434d1e0614
commit f4f5b26a21
10 changed files with 597 additions and 318 deletions
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lerobot/scripts/train_hilserl_classifier.py
+4 -2
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@@ -279,8 +279,10 @@ def train(cfg: DictConfig) -> None:
logging.info(f"Dataset size: {len(dataset)}")
train_size = int(cfg.train_split_proportion * len(dataset))
val_size = len(dataset) - train_size
train_dataset, val_dataset = random_split(dataset, [train_size, val_size])
# val_size = len(dataset) - train_size
# train_dataset, val_dataset = random_split(dataset, [train_size, val_size])
train_dataset = dataset[:train_size]
val_dataset = dataset[train_size:]
sampler = create_balanced_sampler(train_dataset, cfg)
train_loader = DataLoader(