Add rlpd tricks

2025-01-15 15:49:24 +01:00
parent 2fd78879f6
commit 46827fb002
2 changed files with 170 additions and 7 deletions
--- a/lerobot/common/policies/sac/modeling_sac.py
+++ b/lerobot/common/policies/sac/modeling_sac.py
@@ -266,7 +266,8 @@ class SACPolicy(

            # critics subsample size
            min_q, _ = q_targets.min(dim=0)  # Get values from min operation
-            min_q = min_q - (temperature * next_log_probs)
+            if self.config.use_backup_entropy:
+                min_q = min_q - (temperature * next_log_probs)

            td_target = rewards + (1 - done) * self.config.discount * min_q