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Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment.

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-10 16:03:39 +01:00
committed by AdilZouitine
parent 434d1e0614
commit f4f5b26a21
10 changed files with 597 additions and 318 deletions
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6
lerobot/common/policies/sac/configuration_sac.py
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@@ -39,6 +39,12 @@ class SACConfig:
"observation.environment_state": "min_max",
}
)
input_normalization_params: dict[str, dict[str, list[float]]] = field(
default_factory=lambda: {
"observation.image": {"mean": [[0.485, 0.456, 0.406]], "std": [[0.229, 0.224, 0.225]]},
"observation.state": {"min": [-1, -1, -1, -1], "max": [1, 1, 1, 1]},
}
)
output_normalization_modes: dict[str, str] = field(default_factory=lambda: {"action": "min_max"})
output_normalization_params: dict[str, dict[str, list[float]]] = field(
default_factory=lambda: {