Added caching function in the learner_server and modeling sac in order to limit the number of forward passes through the pretrained encoder when its frozen.

Added tensordict dependencies
Updated the version of torch and torchvision

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>

pyproject.toml

@@ -38,10 +38,10 @@ einops = ">=0.8.0"
 pymunk = ">=6.6.0"
 zarr = ">=2.17.0"
 numba = ">=0.59.0"
-torch = ">=2.2.1"
+torch = ">=2.6.0"
 opencv-python = ">=4.9.0"
 diffusers = ">=0.27.2"
-torchvision = ">=0.17.1"
+torchvision = ">=0.21.0"
 h5py = ">=3.10.0"
 huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.25.2"}
 gymnasium = "==0.29.1" # TODO(rcadene, aliberts): Make gym 1.0.0 work
@@ -91,7 +91,7 @@ dynamixel = ["dynamixel-sdk", "pynput"]
 feetech = ["feetech-servo-sdk", "pynput"]
 intelrealsense = ["pyrealsense2"]
 stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"]
-hilserl = ["transformers", "torchmetrics", "grpcio", "protobuf"]
+hilserl = ["transformers", "torchmetrics", "grpcio", "protobuf", "tensordict"]
 mani_skill = ["mani-skill"]
 
 [tool.ruff]