General fixes in code, removed delta action, fixed grasp penalty, added logic to put gripper reward in info

2025-04-09 17:04:43 +02:00
parent a80a9cf379
commit 9eec7b8bb0
7 changed files with 75 additions and 65 deletions
--- a/lerobot/common/policies/sac/modeling_sac.py
+++ b/lerobot/common/policies/sac/modeling_sac.py
@@ -428,6 +428,7 @@ class SACPolicy(
        actions_discrete = torch.round(actions_discrete)
        actions_discrete = actions_discrete.long()

+        gripper_penalties: Tensor | None = None
        if complementary_info is not None:
            gripper_penalties: Tensor | None = complementary_info.get("gripper_penalty")