forked from tangger/lerobot
6167886472
- Updated SACPolicy to conditionally compute grasp critic losses based on the presence of discrete actions. - Refactored the forward method to handle grasp critic model selection and loss computation more clearly. - Adjusted learner server to utilize optimized parameters for grasp critic during training. - Improved action handling in the ManiskillMockGripperWrapper to accommodate both tuple and single action inputs.