Add rounding for safety

2025-04-08 08:50:02 +00:00
parent a3ada81816
commit 68c271ad25
1 changed files with 1 additions and 0 deletions
--- a/lerobot/common/policies/sac/modeling_sac.py
+++ b/lerobot/common/policies/sac/modeling_sac.py
@@ -421,6 +421,7 @@ class SACPolicy(
        # In the buffer we have the full action space (continuous + discrete)
        # We need to split them before concatenating them in the critic forward
        actions_discrete: Tensor = actions[:, DISCRETE_DIMENSION_INDEX:].clone()
+        actions_discrete = torch.round(actions_discrete)
        actions_discrete = actions_discrete.long()

        if complementary_info is not None: