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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
committed by AdilZouitine
parent 9dafad15e6
commit 80b86e9bc3
10 changed files with 206 additions and 150 deletions
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42
lerobot/common/policies/sac/configuration_sac.py
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@@ -1,6 +1,6 @@
#!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team.
# Copyright 2024 The HuggingFace Inc. team.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,7 +15,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.
from dataclasses import dataclass
from dataclasses import dataclass, field
@dataclass
@@ -30,14 +30,36 @@ class SACConfig:
critic_target_update_weight = 0.005
utd_ratio = 2
critic_network_kwargs = {
"hidden_dims": [256, 256],
"activate_final": True,
}
"hidden_dims": [256, 256],
"activate_final": True,
}
actor_network_kwargs = {
"hidden_dims": [256, 256],
"activate_final": True,
}
"hidden_dims": [256, 256],
"activate_final": True,
}
policy_kwargs = {
"tanh_squash_distribution": True,
"std_parameterization": "uniform",
"tanh_squash_distribution": True,
"std_parameterization": "uniform",
}
input_shapes: dict[str, list[int]] = field(
default_factory=lambda: {
"observation.image": [3, 84, 84],
"observation.state": [4],
}
)
output_shapes: dict[str, list[int]] = field(
default_factory=lambda: {
"action": [4],
}
)
state_encoder_hidden_dim: int = 256
latent_dim: int = 256
network_hidden_dims: int = 256
# Normalization / Unnormalization
input_normalization_modes: dict[str, str] | None = None
output_normalization_modes: dict[str, str] = field(
default_factory=lambda: {"action": "min_max"},
)