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18 Commits

Author SHA1 Message Date
AdilZouitine
4257fe5045 rename reward classifier 2025-04-25 18:38:52 +02:00
Michel Aractingi
ea89b29fe5 checkout normalize.py to prev commit 2025-04-25 18:10:59 +02:00
AdilZouitine
50e9a8ed6a cleaning 2025-04-25 17:22:02 +02:00
pre-commit-ci[bot]
eb44a06a9b [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-04-18 15:10:22 +02:00
AdilZouitine
80d566eb56 Handle new config with sac 2025-04-18 15:09:27 +02:00
pre-commit-ci[bot]
0ea27704f6 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-04-18 15:09:25 +02:00
pre-commit-ci[bot]
1c8daf11fd [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:07:46 +02:00
AdilZouitine
e002c5ec56 Remove torch.no_grad decorator and optimize next action prediction in SAC policy 
- Removed `@torch.no_grad` decorator from Unnormalize forward method

- Added TODO comment for optimizing next action prediction in SAC policy
- Minor formatting adjustment in NaN assertion for log standard deviation
Co-authored-by: Yoel Chornton <yoel.chornton@gmail.com>
 2025-04-18 15:06:52 +02:00
Michel Aractingi
0d88a5ee09 - Fixed big issue in the loading of the policy parameters sent by the learner to the actor -- pass only the actor to the update_policy_parameters and remove strict=False 
- Fixed big issue in the normalization of the actions in the `forward` function of the critic -- remove the `torch.no_grad` decorator in `normalize.py` in the normalization function
- Fixed performance issue to boost the optimization frequency by setting the storage device to be the same as the device of learning.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:44 +02:00
Simon Alibert
3354d919fc LeRobotDataset v2.1 (#711) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2025-02-25 15:27:29 +01:00
Remi
638d411cd3 Add Pi0 (#681) 
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Pablo <pablo.montalvo.leroux@gmail.com>
 2025-02-04 18:01:04 +01:00
Simon Alibert
3c0a209f9f Simplify configs (#550) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: HUANG TZU-CHUN <137322177+tc-huang@users.noreply.github.com>
 2025-01-31 13:57:37 +01:00
Alexander Soare
abbb1d2367 Make sure policies don't mutate the batch (#323) 2024-07-22 20:38:33 +01:00
Ruijie
b0d954c6e1 Fix bug in normalize to avoid divide by zero (#239) 
Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-06-04 12:21:28 +02:00
Simon Alibert
f52f4f2cd2 Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Alexander Soare
a4891095e4 Use PytorchModelHubMixin to save models as safetensors (#125) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-01 16:17:18 +01:00
Alexander Soare
45f351c618 Make sure targets are normalized too (#106) 2024-04-26 11:18:39 +01:00
Remi
e760e4cd63 Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00