Update configuration files for improved performance and flexibility

- Increased frame rate in `maniskill_example.yaml` from 20 to 400 for enhanced simulation speed.
- Updated `sac_maniskill.yaml` to set `dataset_repo_id` to null and adjusted `grad_clip_norm` from 10.0 to 40.0.
- Changed `storage_device` from "cpu" to "cuda" for better resource utilization.
- Modified `save_freq` from 2000000 to 1000000 to optimize saving intervals.
- Enhanced input normalization parameters for `observation.state` and `observation.image` in SAC policy.
- Adjusted `num_critics` from 10 to 2 and `policy_parameters_push_frequency` from 1 to 4 for improved training dynamics.
- Updated `learner_server.py` to utilize `offline_buffer_capacity` for replay buffer initialization.
- Changed action multiplier in `maniskill_manipulator.py` from 1 to 0.03 for finer control over actions.

lerobot/scripts/server/learner_server.py

@@ -202,6 +202,7 @@ def initialize_offline_replay_buffer(
         action_delta=cfg.env.wrapper.delta_action,
         storage_device=storage_device,
         optimize_memory=True,
+        capacity=cfg.training.offline_buffer_capacity,
     )
     return offline_replay_buffer
 

lerobot/scripts/server/maniskill_manipulator.py

@@ -159,7 +159,7 @@ def make_maniskill(
     env.unwrapped.metadata["render_fps"] = 20
     env = ManiSkillCompat(env)
     env = ManiSkillActionWrapper(env)
-    env = ManiSkillMultiplyActionWrapper(env, multiply_factor=1)
+    env = ManiSkillMultiplyActionWrapper(env, multiply_factor=0.03)
 
     return env