- Added async_prefetch parameter to SACConfig for improved buffer management.
- Implemented get_iterator method in ReplayBuffer to support asynchronous prefetching of batches.
- Updated learner_server to utilize the new iterator for online and offline sampling, enhancing training efficiency.
- Introduced a new "task" field in frame_dict to meet the requirements of LeRobotDataset.
- Removed task_name parameter from save_episode calls for consistency.
- Changed the device assignment for tensors in the ReplayBuffer class from `device` to `storage_device` for consistency and improved resource management.
- Introduce `optimize_memory` parameter to reduce memory usage in replay buffer
- Implement simplified memory optimization by not storing duplicate next_states
- Update learner server and buffer initialization to use memory optimization by default
- Replaced list-based memory storage with pre-allocated tensor storage
- Optimized sampling process with direct tensor indexing
- Added support for DrQ image augmentation during sampling for offline dataset
- Improved dataset conversion with more robust episode handling
- Enhanced buffer initialization and state tracking
- Added comprehensive testing for buffer conversion and sampling
- Reduced image size in ManiSkill environment configuration from 128 to 64
- Added support for truncation in replay buffer and actor server
- Updated SAC policy configuration to use a specific dataset and modify vision encoder settings
- Improved dataset conversion process with progress tracking and task naming
- Added flexibility for joint action space masking in learner server
- Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop.
- changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps
- Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Michel Aractingi