2fd78879f6
SAC works
2025-04-18 15:03:51 +02:00
e8449e9630
remove breakpoint
2025-04-18 15:03:51 +02:00
a0e2be8b92
[WIP] correct sac implementation
2025-04-18 15:03:51 +02:00
181727c0fe
Extend reward classifier for multiple camera views ( #626 )
2025-04-18 15:03:50 +02:00
d1d6ffd23c
[Port HIL_SERL] Final fixes for the Reward Classifier ( #598 )
2025-04-18 15:03:01 +02:00
e5801f467f
added temporary fix for missing task_index key in online environment
2025-04-18 15:03:01 +02:00
c6ca9523de
split encoder for critic and actor
2025-04-18 15:03:01 +02:00
642e3a3274
style fixes
2025-04-18 15:03:01 +02:00
146148c48c
Refactor SAC configuration and policy for improved action sampling and stability
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- Updated SACConfig to replace standard deviation parameterization with log_std_min and log_std_max for better control over action distributions.
- Modified SACPolicy to streamline action selection and log probability calculations, enhancing stochastic behavior.
- Removed deprecated TanhMultivariateNormalDiag class to simplify the codebase and improve maintainability.
These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
2025-04-18 15:03:01 +02:00
8f15835daa
Refine SAC configuration and policy for enhanced performance
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- Updated standard deviation parameterization in SACConfig to 'softplus' with defined min and max values for improved stability.
- Modified action sampling in SACPolicy to use reparameterized sampling, ensuring better gradient flow and log probability calculations.
- Cleaned up log probability calculations in TanhMultivariateNormalDiag for clarity and efficiency.
- Increased evaluation frequency in YAML configuration to 50000 for more efficient training cycles.
These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
2025-04-18 15:03:01 +02:00
022bd65125
Refactor SACPolicy for improved action sampling and standard deviation handling
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- Updated action selection to use distribution sampling and log probabilities for better stochastic behavior.
- Enhanced standard deviation clamping to prevent extreme values, ensuring stability in policy outputs.
- Cleaned up code by removing unnecessary comments and improving readability.
These changes aim to refine the SAC implementation, enhancing its robustness and performance during training and inference.
2025-04-18 15:03:01 +02:00
63d8c96514
trying to get sac running
2025-04-18 15:03:01 +02:00
4624a836e5
Added normalization schemes and style checks
2025-04-18 15:03:01 +02:00
ad7eea132d
added optimizer and sac to factory.py
2025-04-18 15:02:59 +02:00
22a1899ff4
[HIL-SERL PORT] Fix linter issues ( #588 )
2025-04-18 15:02:44 +02:00
17a3a31b5f
[Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script ( #578 )
2025-04-18 15:02:42 +02:00
1a8b99e360
added comments from kewang
2025-04-18 15:02:13 +02:00
6db2154f28
Enhance SAC configuration and policy with new parameters and subsampling logic
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- Added `num_subsample_critics`, `critic_target_update_weight`, and `utd_ratio` to SACConfig.
- Implemented target entropy calculation in SACPolicy if not provided.
- Introduced subsampling of critics to prevent overfitting during updates.
- Updated temperature loss calculation to use the new target entropy.
- Added comments for future UTD update implementation.
These changes improve the flexibility and performance of the SAC implementation.
2025-04-18 15:02:13 +02:00
be3adda95f
Port SAC WIP ( #581 )
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Co-authored-by: KeWang1017 <ke.wang@helloleap.ai >
2025-04-18 15:02:13 +02:00
9d48d236c1
completed losses
2025-04-18 15:02:13 +02:00
b57d6a7776
nit in control_robot.py
2025-04-18 15:02:13 +02:00
d1f76cba8e
Update lerobot/scripts/train_hilserl_classifier.py
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Co-authored-by: Yoel <yoel.chornton@gmail.com >
2025-04-18 15:02:13 +02:00
d78cef1fee
Fixup
2025-04-18 15:02:13 +02:00
30a808c0ae
Add human intervention mechanism and eval_robot script to evaluate policy on the robot ( #541 )
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Co-authored-by: Yoel <yoel.chornton@gmail.com >
2025-04-18 15:02:13 +02:00
4a7f85a6ec
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 >
2025-04-18 15:02:13 +02:00
b6b9635be6
Remove names
2025-04-18 09:48:16 +02:00
21b1026872
Remove deprecated dynamixel_calibration
2025-04-18 09:34:46 +02:00
8c3eab32b0
Remove deprecated configure_motor
2025-04-18 09:19:43 +02:00
29633865c7
Fix _find_single_motor
2025-04-18 09:18:56 +02:00
702749b7d3
Fix setup_motor & add it to robots
2025-04-17 16:56:38 +02:00
b43ece8934
Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev ( #987 )
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Co-authored-by: makolon <smakolon385@gmail.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 16:17:07 +02:00
c10c5a0e64
Fix --width --height type parsing on opencv and intelrealsense scripts ( #556 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 15:19:23 +02:00
a8db91c40e
Fix Windows HTML visualization to make videos could be seen ( #647 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 15:07:28 +02:00
0f5f7ac780
Fix broken links in examples/4_train_policy_with_script.md ( #697 )
2025-04-17 14:59:43 +02:00
bf1c737858
Fix calibration msg display
2025-04-17 13:18:32 +02:00
d07c7347f8
Add setup_motor
2025-04-17 13:14:06 +02:00
57e5e4cc07
Move read/write_calibration implementations
2025-04-16 11:23:33 +02:00
2743c29a96
Update feetech tables
2025-04-16 11:01:12 +02:00
2bb73ac431
Add torque_disabled context
2025-04-15 11:43:22 +02:00
9afc4b771c
Motors config & disconnect fixes
2025-04-15 11:20:42 +02:00
f71e224023
Fix tests
2025-04-15 11:18:44 +02:00
768e36660d
[pre-commit.ci] pre-commit autoupdate ( #980 )
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-04-14 21:55:06 +02:00
889de7c415
Add handshake, fix feetech _read_firmware_version
2025-04-14 17:14:06 +02:00
790d6740ba
fix(installation): adding note on ffmpeg version during installation ( #976 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-04-14 15:36:31 +02:00
3539251b18
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
2025-04-14 15:30:35 +02:00
1f210bc8a3
Refactor tests
2025-04-14 15:26:29 +02:00
d70bc4bde9
Add more segmented tests (dynamixel)
2025-04-14 15:16:38 +02:00
bdbca09cb2
Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support
2025-04-14 11:56:53 +02:00
e0b292ab51
Remove test_motors_bus fixtures
2025-04-11 12:24:30 +02:00
f960f4d8d4
Fix unormalize
2025-04-11 11:58:31 +02:00
Adil Zouitine