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[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722)

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Eugene Mironov
2025-02-21 16:29:00 +07:00
committed by AdilZouitine
parent 150def839c
commit d48161da1b
17 changed files with 1949 additions and 475 deletions
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5
lerobot/configs/policy/sac_maniskill.yaml
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@@ -108,5 +108,6 @@ policy:
utd_ratio: 2 # 10
actor_learner_config:
actor_ip: "127.0.0.1"
port: 50051
learner_host: "127.0.0.1"
learner_port: 50051
policy_parameters_push_frequency: 15

9
lerobot/configs/policy/sac_real.yaml
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@@ -65,7 +65,7 @@ policy:
action: [4] # ["${env.action_dim}"]
# Normalization / Unnormalization
input_normalization_modes:
input_normalization_modes:
observation.images.front: mean_std
observation.images.side: mean_std
observation.state: min_max
@@ -80,7 +80,7 @@ policy:
min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
max: [ 7.215820e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
# min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375,0.53691274]
# min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375,0.53691274]
# max: [58.183594, 131.83594, 145.98633, 82.08984, 78.22266, 0.60402685]
# min: [-88.50586, 23.81836, 0.87890625, -32.16797, 78.66211, 0.53691274]
# max: [84.55078, 187.11914, 145.98633, 101.60156, 146.60156, 88.18792]
@@ -112,8 +112,9 @@ policy:
utd_ratio: 2 # 10
actor_learner_config:
actor_ip: "127.0.0.1"
port: 50051
learner_host: "127.0.0.1"
learner_port: 50051
policy_parameters_push_frequency: 15
# # Loss coefficients.
# reward_coeff: 0.5