1, add input normalization in configuration_sac.py 2, add masking on loss computation

2024-12-30 18:46:25 +00:00
parent 35de91ef2b
commit 77a7f92139
3 changed files with 26 additions and 26 deletions
--- a/lerobot/common/policies/sac/configuration_sac.py
+++ b/lerobot/common/policies/sac/configuration_sac.py
@@ -28,12 +28,18 @@ class SACConfig:
    )
    output_shapes: dict[str, list[int]] = field(
        default_factory=lambda: {
-            "action": [4],
+            "action": [2],
        }
    )

    # Normalization / Unnormalization
-    input_normalization_modes: dict[str, str] | None = None
+    input_normalization_modes: dict[str, str] = field(
+        default_factory=lambda: {
+            "observation.image": "mean_std",
+            "observation.state": "min_max",
+            "observation.environment_state": "min_max",
+        }
+    )
    output_normalization_modes: dict[str, str] = field(
        default_factory=lambda: {"action": "min_max"},
    )