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Author SHA1 Message Date
Michel Aractingi
35de91ef2b added temporary fix for missing task_index key in online environment 2024-12-30 13:47:28 +00:00
Michel Aractingi
ee306e2f9b split encoder for critic and actor 2024-12-29 23:59:39 +00:00
Michel Aractingi
bae3b02928 style fixes 2024-12-29 14:35:21 +00:00
KeWang1017
5b4adc00bb Refactor SAC configuration and policy for improved action sampling and stability 
- Updated SACConfig to replace standard deviation parameterization with log_std_min and log_std_max for better control over action distributions.
- Modified SACPolicy to streamline action selection and log probability calculations, enhancing stochastic behavior.
- Removed deprecated TanhMultivariateNormalDiag class to simplify the codebase and improve maintainability.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2024-12-29 14:27:19 +00:00
KeWang1017
22fbc9ea4a Refine SAC configuration and policy for enhanced performance 
- Updated standard deviation parameterization in SACConfig to 'softplus' with defined min and max values for improved stability.
- Modified action sampling in SACPolicy to use reparameterized sampling, ensuring better gradient flow and log probability calculations.
- Cleaned up log probability calculations in TanhMultivariateNormalDiag for clarity and efficiency.
- Increased evaluation frequency in YAML configuration to 50000 for more efficient training cycles.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2024-12-29 14:21:49 +00:00
KeWang1017
ca74a13d61 Refactor SACPolicy for improved action sampling and standard deviation handling 
- Updated action selection to use distribution sampling and log probabilities for better stochastic behavior.
- Enhanced standard deviation clamping to prevent extreme values, ensuring stability in policy outputs.
- Cleaned up code by removing unnecessary comments and improving readability.

These changes aim to refine the SAC implementation, enhancing its robustness and performance during training and inference.
 2024-12-29 14:17:25 +00:00
KeWang1017
18a4598986 trying to get sac running 2024-12-29 14:14:13 +00:00
Michel Aractingi
dc54d357ca Added normalization schemes and style checks 2024-12-29 12:51:21 +00:00
Michel Aractingi
08ec971086 added optimizer and sac to factory.py 2024-12-23 14:12:03 +01:00
Eugene Mironov
b53d6e0ff2 [HIL-SERL PORT] Fix linter issues (#588) 2024-12-23 10:44:29 +01:00
Eugene Mironov
70b652f791 [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2024-12-23 10:43:55 +01:00
Michel Aractingi
7b68bfb73b added comments from kewang 2024-12-17 18:03:46 +01:00
KeWang1017
7e0f20fbf2 Enhance SAC configuration and policy with new parameters and subsampling logic 
- Added `num_subsample_critics`, `critic_target_update_weight`, and `utd_ratio` to SACConfig.
- Implemented target entropy calculation in SACPolicy if not provided.
- Introduced subsampling of critics to prevent overfitting during updates.
- Updated temperature loss calculation to use the new target entropy.
- Added comments for future UTD update implementation.

These changes improve the flexibility and performance of the SAC implementation.
 2024-12-17 17:58:11 +01:00
KeWang
def42ff487 Port SAC WIP (#581) 
Co-authored-by: KeWang1017 <ke.wang@helloleap.ai>
 2024-12-17 16:16:59 +01:00
Michel Aractingi
c9af8e36a7 completed losses 2024-12-17 16:16:36 +01:00
Michel Aractingi
ed66c92383 nit in control_robot.py 2024-12-17 11:04:56 +07:00
Michel Aractingi
668d493bf9 Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:44:31 +07:00
Claudio Coppola
67f4d7ea7a LerobotDataset pushable to HF from any folder (#563) 2024-12-17 02:44:23 +07:00
berjaoui
4b0c88ff8e Update 7_get_started_with_real_robot.md (#559) 2024-12-17 02:44:11 +07:00
Michel Aractingi
b19fef9d18 Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-12-17 02:44:03 +07:00
Remi
1612e00e63 Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-17 02:43:10 +07:00
Michel Aractingi
c3bc136420 Refactor OpenX (#505) 2024-12-17 02:42:59 +07:00
Eugene Mironov
1020bc3108 Fixup 2024-12-17 02:42:53 +07:00
Michel Aractingi
7fcf638c0d Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:41:31 +07:00
Yoel
e35546f58e Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2024-12-17 02:41:29 +07:00
Michel Aractingi
1aa8d4ac91 nit 2024-12-17 02:39:15 +07:00
s1lent4gnt
66f8736598 fixing typo from 'teloperation' to 'teleoperation' (#566) 2024-12-11 05:57:52 -08:00
Simon Alibert
4c41f6fcc6 Fix example 6 (#572) 2024-12-11 10:32:18 +01:00
Claudio Coppola
44f9b21e74 LerobotDataset pushable to HF from any folder (#563) 2024-12-09 11:32:25 +01:00
berjaoui
03f49ceaf0 Update 7_get_started_with_real_robot.md (#559) 2024-12-09 00:17:49 +01:00
Michel Aractingi
8e7d6970ea Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-12-03 12:20:05 +01:00
Remi
286bca37cc Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-03 10:53:21 +01:00
Michel Aractingi
a2c181992a Refactor OpenX (#505) 2024-12-03 00:51:55 +01:00
Simon Alibert
32eb0cec8f Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00
KasparSLT
96c7052777 Rename deprecated argument (temporal_ensemble_momentum) (#490) 2024-11-25 21:05:13 +01:00
Jannik Grothusen
975c1c25c3 Add distinction between two unallowed cases in name check "eval_" (#489) 2024-11-22 19:19:57 +01:00
resolver101757
20f466768e bug causes error uploading to huggingface, unicode issue on windows. (#450) 2024-11-22 19:15:58 +01:00
Daniel Ritchie
8af693548e Add support for Windows (#494) 2024-11-22 19:14:25 +01:00
Ivelin Ivanov
963738d983 fix: broken images and a few minor typos in README (#499) 
Signed-off-by: ivelin <ivelin117@gmail.com>
 2024-11-05 15:30:59 +01:00
Arsen Ohanyan
e0df56de62 Fix config file (#495) 2024-10-31 16:41:49 +01:00
Hirokazu Ishida
538455a965 feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-10-30 11:00:05 +01:00
Remi
172809a502 [Fix] Move back to manual calibration (#488) 2024-10-26 15:27:21 +02:00
Remi
55e4ff6742 Fix autocalib moss (#486) 2024-10-26 12:15:17 +02:00
Remi
07e8716315 Add FeetechMotorsBus, SO-100, Moss-v1 (#419) 
Co-authored-by: jess-moss <jess.moss@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-25 11:23:55 +02:00
Arsen Ohanyan
114870d703 Fix link (#482) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-10-23 16:24:06 +02:00
Bastian Krohg
2efee45ef1 Update 9_use_aloha.md, missing comma (#479) 2024-10-23 16:13:26 +02:00
Boris Zimka
c351e1fff9 Fix gymnasium version as pre-1.0.0 (#471) 
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-10-18 10:23:27 +02:00
Alexander Soare
cd0fc261c0 Make say(blocking=True) work for Linux (#460) 2024-10-17 15:22:21 +01:00
Remi
77478d50e5 Refactor record with add_frame (#468) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-16 20:51:35 +02:00
Remi
97b1feb0b3 Add policy/act_aloha_real.yaml + env/act_real.yaml (#429) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-10-10 17:12:45 +02:00