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[WIP] Update SAC configuration and environment settings

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- Reduced frame rate in `ManiskillEnvConfig` from 400 to 200.
- Enhanced `SACConfig` with new dataclasses for actor, learner, and network configurations.
- Improved input and output feature management in `SACConfig`.
- Refactored `actor_server` and `learner_server` to access configuration properties directly.
- Updated training pipeline to validate configurations and handle dataset repo IDs more robustly.
This commit is contained in:
AdilZouitine
2025-03-27 08:13:20 +00:00
committed by Michel Aractingi
parent 0b5b62c8fb
commit db897a1619
7 changed files with 183 additions and 126 deletions
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lerobot/common/envs/configs.py
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@@ -173,7 +173,7 @@ class ManiskillEnvConfig(EnvConfig):
control_mode: str = "pd_ee_delta_pose"
state_dim: int = 25
action_dim: int = 7
fps: int = 400
fps: int = 200
episode_length: int = 50
obs_type: str = "rgb"
render_mode: str = "rgb_array"