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[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722)

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This commit is contained in:
Eugene Mironov
2025-02-21 16:29:00 +07:00
committed by Michel Aractingi
parent 85242cac67
commit e1d55c7a44
17 changed files with 1949 additions and 475 deletions
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14
lerobot/common/policies/sac/configuration_sac.py
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@@ -41,11 +41,16 @@ class SACConfig:
)
input_normalization_params: dict[str, dict[str, list[float]]] = field(
default_factory=lambda: {
"observation.image": {"mean": [[0.485, 0.456, 0.406]], "std": [[0.229, 0.224, 0.225]]},
"observation.image": {
"mean": [[0.485, 0.456, 0.406]],
"std": [[0.229, 0.224, 0.225]],
},
"observation.state": {"min": [-1, -1, -1, -1], "max": [1, 1, 1, 1]},
}
)
output_normalization_modes: dict[str, str] = field(default_factory=lambda: {"action": "min_max"})
output_normalization_modes: dict[str, str] = field(
default_factory=lambda: {"action": "min_max"}
)
output_normalization_params: dict[str, dict[str, list[float]]] = field(
default_factory=lambda: {
"action": {"min": [-1, -1], "max": [1, 1]},
@@ -54,9 +59,8 @@ class SACConfig:
# TODO: Move it outside of the config
actor_learner_config: dict[str, str | int] = field(
default_factory=lambda: {
"actor_ip": "127.0.0.1",
"port": 50051,
"learner_ip": "127.0.0.1",
"learner_host": "127.0.0.1",
"learner_port": 50051,
}
)
camera_number: int = 1