Reward classifier and training (#528)

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>

lerobot/configs/policy/hilserl_classifier.yaml

@@ -0,0 +1,48 @@
+# @package _global_
+
+defaults:
+  - _self_
+
+seed: 13
+dataset_repo_id: "dataset_repo_id"
+train_split_proportion: 0.8
+
+# Required by logger
+env:
+  name: "classifier"
+  task: "binary_classification"
+
+
+training:
+  num_epochs: 5
+  batch_size: 16
+  learning_rate: 1e-4
+  num_workers: 4
+  grad_clip_norm: 10
+  use_amp: true
+  log_freq: 1
+  eval_freq: 1  # How often to run validation (in epochs)
+  save_freq: 1  # How often to save checkpoints (in epochs)
+  save_checkpoint: true
+  image_key: "observation.images.phone"
+  label_key: "next.reward"
+
+eval:
+  batch_size: 16
+  num_samples_to_log: 30  # Number of validation samples to log in the table
+
+policy:
+  name: "hilserl/classifier"
+  model_name: "facebook/convnext-base-224"
+  model_type: "cnn"
+
+wandb:
+  enable: false
+  project: "classifier-training"
+  entity: "wandb_entity"
+  job_name: "classifier_training_0"
+  disable_artifact: false
+
+device: "mps"
+resume: false
+output_dir: "output"