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added optimizer and sac to factory.py

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Michel Aractingi
2024-12-23 14:12:03 +01:00
parent 1e2a757cd3
commit b0e2fcdba7
1 changed files with 9 additions and 0 deletions
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lerobot/scripts/train.py
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@@ -93,6 +93,15 @@ def make_optimizer_and_scheduler(cfg, policy):
elif policy.name == "tdmpc":
optimizer = torch.optim.Adam(policy.parameters(), cfg.training.lr)
lr_scheduler = None
elif policy.name == "sac":
optimizer = torch.optim.Adam([
{'params': policy.actor.parameters(), 'lr': policy.config.actor_lr},
{'params': policy.critic_ensemble.parameters(), 'lr': policy.config.critic_lr},
{'params': policy.temperature.parameters(), 'lr': policy.config.temperature_lr},
])
lr_scheduler = None
elif cfg.policy.name == "vqbet":
from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTOptimizer, VQBeTScheduler