Eugene Mironov
d48161da1b
[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL ( #722 )
2025-03-28 17:18:48 +00:00
Michel Aractingi
291358d6a2
Fixed bug in the action scale of the intervention actions and offline dataset actions. (scale by inverse delta)
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Co-authored-by: Adil Zouitine <adizouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
Michel Aractingi
2aca830a09
Modified crop_dataset_roi interface to automatically write the cropped parameters to a json file in the meta of the dataset
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
Michel Aractingi
2f34d84298
Optimized the replay buffer from the memory side to store data on cpu instead of a gpu device and send the batches to the gpu.
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
Michel Aractingi
eb7e28d9d9
Hardcoded some normalization parameters. TODO refactor
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Added masking actions on the level of the intervention actions and offline dataset
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
Michel Aractingi
c623824139
- Added JointMaskingActionSpace wrapper in gym_manipulator in order to select which joints will be controlled. For example, we can disable the gripper actions for some tasks.
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- Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop.
- changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps
- Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
Michel Aractingi
f4f5b26a21
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 >
2025-03-28 17:18:24 +00:00
Michel Aractingi
163bcbcad4
fixed bug in crop_dataset_roi.py
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added missing buffer.pt in server dir
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-03-28 17:18:24 +00:00
