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Added support for checkpointing the policy. We can save and load the policy state dict, optimizers state, optimization step and interaction step

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Added functions for converting the replay buffer from and to LeRobotDataset. When we want to save the replay buffer, we convert it first to LeRobotDataset format and save it locally and vice-versa.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-01-30 17:39:41 +00:00
parent 03616db82c
commit aebea08a99
5 changed files with 215 additions and 91 deletions
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4
lerobot/configs/policy/sac_maniskill.yaml
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@@ -8,7 +8,7 @@
# env.gym.obs_type=environment_state_agent_pos \
seed: 1
dataset_repo_id: null
dataset_repo_id: aractingi/hil-serl-maniskill-pushcube
training:
# Offline training dataloader
@@ -21,7 +21,7 @@ training:
eval_freq: 2500
log_freq: 500
save_freq: 50000
save_freq: 1000000
online_steps: 1000000
online_rollout_n_episodes: 10