hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Clean the code and remove todo

Browse Source
This commit is contained in:
AdilZouitine
2025-04-24 16:10:56 +02:00
parent c58b504a9e
commit b8c2b0bb93
5 changed files with 3 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
lerobot/common/policies/hilserl/configuration_hilserl.py
View File

@@ -1,23 +0,0 @@
#!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from dataclasses import dataclass
@dataclass
class HILSerlConfig:
pass

29
lerobot/common/policies/hilserl/modeling_hilserl.py
View File

@@ -1,29 +0,0 @@
#!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import torch.nn as nn
from huggingface_hub import PyTorchModelHubMixin
class HILSerlPolicy(
nn.Module,
PyTorchModelHubMixin,
library_name="lerobot",
repo_url="https://github.com/huggingface/lerobot",
tags=["robotics", "hilserl"],
):
pass

4
lerobot/common/policies/sac/modeling_sac.py
View File

@@ -15,8 +15,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.
# TODO: (1) better device management
import math
from dataclasses import asdict
from typing import Callable, List, Literal, Optional, Tuple
@@ -254,7 +252,6 @@ class SACPolicy(
with torch.no_grad():
next_action_preds, next_log_probs, _ = self.actor(next_observations, next_observation_features)
# TODO: (maractingi, azouitine) This is to slow, we should find a way to do this in a more efficient way
next_action_preds = self.unnormalize_outputs({"action": next_action_preds})["action"]
# 2- compute q targets
@@ -378,7 +375,6 @@ class SACPolicy(
) -> Tensor:
actions_pi, log_probs, _ = self.actor(observations, observation_features)
# TODO: (maractingi, azouitine) This is to slow, we should find a way to do this in a more efficient way
actions_pi: Tensor = self.unnormalize_outputs({"action": actions_pi})["action"]
q_preds = self.critic_forward(