split encoder for critic and actor

2024-12-29 23:59:39 +00:00
parent bae3b02928
commit ee306e2f9b
2 changed files with 177 additions and 131 deletions
--- a/lerobot/common/policies/sac/configuration_sac.py
+++ b/lerobot/common/policies/sac/configuration_sac.py
@@ -48,7 +48,7 @@ class SACConfig:
    critic_target_update_weight = 0.005
    utd_ratio = 2
    state_encoder_hidden_dim = 256
-    latent_dim = 50
+    latent_dim = 128
    target_entropy = None
    critic_network_kwargs = {
        "hidden_dims": [256, 256],