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General fixes in code, removed delta action, fixed grasp penalty, added logic to put gripper reward in info

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Michel Aractingi
2025-04-09 17:04:43 +02:00
committed by Michel Aractingi
parent 02e1ed0bfb
commit 9fd4c21d4d
7 changed files with 75 additions and 65 deletions
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lerobot/common/policies/sac/modeling_sac.py
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@@ -428,6 +428,7 @@ class SACPolicy(
actions_discrete = torch.round(actions_discrete)
actions_discrete = actions_discrete.long()
gripper_penalties: Tensor | None = None
if complementary_info is not None:
gripper_penalties: Tensor | None = complementary_info.get("gripper_penalty")