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Added additional wrappers for the environment: Action repeat, keyboard interface, reset wrapper

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Tested the reset mechanism and keyboard interface and the convert wrapper on the robots.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-04 17:41:14 +00:00
committed by AdilZouitine
parent 87c7eca582
commit 875662f16b
3 changed files with 262 additions and 52 deletions
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lerobot/scripts/server/learner_server.py
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@@ -332,6 +332,9 @@ def add_actor_information_and_train(
transition = move_transition_to_device(transition, device=device)
replay_buffer.add(**transition)
if transition.get("complementary_info", {}).get("is_interaction"):
offline_replay_buffer.add(**transition)
while not interaction_message_queue.empty():
interaction_message = interaction_message_queue.get()
# If cfg.resume, shift the interaction step with the last checkpointed step in order to not break the logging