KeWang1017
9ceb68ee90
Refine SAC configuration and policy for enhanced performance
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- Updated standard deviation parameterization in SACConfig to 'softplus' with defined min and max values for improved stability.
- Modified action sampling in SACPolicy to use reparameterized sampling, ensuring better gradient flow and log probability calculations.
- Cleaned up log probability calculations in TanhMultivariateNormalDiag for clarity and efficiency.
- Increased evaluation frequency in YAML configuration to 50000 for more efficient training cycles.
These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
2025-01-22 10:23:33 +01:00
KeWang1017
d1baa5a82f
trying to get sac running
2025-01-22 10:20:56 +01:00
Michel Aractingi
04da4dd3e3
Added normalization schemes and style checks
2025-01-22 10:19:19 +01:00
Michel Aractingi
b0e2fcdba7
added optimizer and sac to factory.py
2025-01-22 10:17:48 +01:00
Eugene Mironov
1e2a757cd3
[Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script ( #578 )
2025-01-22 10:14:06 +01:00
Michel Aractingi
ab842ba6ae
nit in control_robot.py
2025-01-22 10:06:39 +01:00
Michel Aractingi
94a7221a94
Update lerobot/scripts/train_hilserl_classifier.py
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Co-authored-by: Yoel <yoel.chornton@gmail.com >
2025-01-22 10:06:39 +01:00
Claudio Coppola
00dadcace0
LerobotDataset pushable to HF from any folder ( #563 )
2025-01-22 10:06:39 +01:00
berjaoui
81a2f2958d
Update 7_get_started_with_real_robot.md ( #559 )
2025-01-22 10:06:39 +01:00
Michel Aractingi
68b4fb60ad
Control simulated robot with real leader ( #514 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
2025-01-22 10:06:39 +01:00
Remi
96b2b62377
Fix missing local_files_only in record/replay ( #540 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
2025-01-22 10:06:39 +01:00
Michel Aractingi
b5c98bbfd3
Refactor OpenX ( #505 )
2025-01-22 10:06:39 +01:00
Eugene Mironov
58e12cf2e8
Fixup
2025-01-22 10:06:39 +01:00
Michel Aractingi
d8b5fae622
Add human intervention mechanism and eval_robot script to evaluate policy on the robot ( #541 )
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Co-authored-by: Yoel <yoel.chornton@gmail.com >
2025-01-22 10:06:39 +01:00
Yoel
67ac81d728
Reward classifier and training ( #528 )
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Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai >
Co-authored-by: resolver101757 <kelster101757@hotmail.com >
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com >
Co-authored-by: Remi <re.cadene@gmail.com >
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co >
2025-01-22 10:06:39 +01:00
Michel Aractingi
b5f1ea3140
nit
2025-01-22 10:06:39 +01:00
AdilZouitine
4d854a1513
Stable version of rlpd + drq
2025-01-22 09:00:16 +00:00
AdilZouitine
87da655eab
Add type annotations and restructure SACConfig class fields
2025-01-21 09:51:12 +00:00
Adil Zouitine
a8fda9c61a
Change SAC policy implementation with configuration and modeling classes
2025-01-17 09:39:04 +01:00
Adil Zouitine
55505ff817
Add rlpd tricks
2025-01-16 11:53:36 +01:00
Adil Zouitine
20d31ab8e0
SAC works
2025-01-16 11:53:27 +01:00
Adil Zouitine
e5b83aab5e
remove breakpoint
2025-01-16 11:52:03 +01:00
Adil Zouitine
a9d5f62304
[WIP] correct sac implementation
2025-01-16 11:51:18 +01:00
Adil Zouitine
72e1ed7058
Add rlpd tricks
2025-01-16 11:42:24 +01:00
Adil Zouitine
d8e67a2609
SAC works
2025-01-16 11:42:24 +01:00
Adil Zouitine
50e12376de
remove breakpoint
2025-01-16 11:42:23 +01:00
Adil Zouitine
73aa6c25f3
[WIP] correct sac implementation
2025-01-16 11:42:14 +01:00
Pradeep Kadubandi
380b836eee
Fix for the issue https://github.com/huggingface/lerobot/issues/638 ( #639 )
2025-01-15 10:50:38 +01:00
Philip Fung
eec6796cb8
fixes to SO-100 readme ( #600 )
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Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-01-10 11:30:01 +01:00
Mishig
25a8597680
[viz] Fixes & updates to html visualizer ( #617 )
2025-01-09 11:39:54 +01:00
CharlesCNorton
b8b368310c
typo fix: batch_convert_dataset_v1_to_v2.py ( #615 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-01-09 09:57:45 +01:00
Ville Kuosmanen
5097cd900e
fix(visualise): use correct language description for each episode id ( #604 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-01-09 09:39:48 +01:00
CharlesCNorton
bc16e1b497
fix(docs): typos in benchmark readme.md ( #614 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-01-09 09:35:27 +01:00
Simon Alibert
8f821ecad0
Fix Quality workflow ( #622 )
2025-01-08 13:35:11 +01:00
CharlesCNorton
4519016e67
Update README.md ( #612 )
2025-01-03 16:19:37 +01:00
Eugene Mironov
59e2757434
Fix broken create_lerobot_dataset_card ( #590 )
2024-12-23 15:05:59 +01:00
Mishig
73b64c3089
[vizualizer] for LeRobodDataset V2 ( #576 )
2024-12-20 16:26:23 +01:00
s1lent4gnt
66f8736598
fixing typo from 'teloperation' to 'teleoperation' ( #566 )
2024-12-11 05:57:52 -08:00
Simon Alibert
4c41f6fcc6
Fix example 6 ( #572 )
2024-12-11 10:32:18 +01:00
Claudio Coppola
44f9b21e74
LerobotDataset pushable to HF from any folder ( #563 )
2024-12-09 11:32:25 +01:00
berjaoui
03f49ceaf0
Update 7_get_started_with_real_robot.md ( #559 )
2024-12-09 00:17:49 +01:00
Michel Aractingi
8e7d6970ea
Control simulated robot with real leader ( #514 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
2024-12-03 12:20:05 +01:00
Remi
286bca37cc
Fix missing local_files_only in record/replay ( #540 )
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Co-authored-by: Simon Alibert <alibert.sim@gmail.com >
2024-12-03 10:53:21 +01:00
Michel Aractingi
a2c181992a
Refactor OpenX ( #505 )
2024-12-03 00:51:55 +01:00
Simon Alibert
32eb0cec8f
Dataset v2.0 ( #461 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
2024-11-29 19:04:00 +01:00
KasparSLT
96c7052777
Rename deprecated argument (temporal_ensemble_momentum) ( #490 )
2024-11-25 21:05:13 +01:00
Jannik Grothusen
975c1c25c3
Add distinction between two unallowed cases in name check "eval_" ( #489 )
2024-11-22 19:19:57 +01:00
resolver101757
20f466768e
bug causes error uploading to huggingface, unicode issue on windows. ( #450 )
2024-11-22 19:15:58 +01:00
Daniel Ritchie
8af693548e
Add support for Windows ( #494 )
2024-11-22 19:14:25 +01:00
Ivelin Ivanov
963738d983
fix: broken images and a few minor typos in README ( #499 )
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Signed-off-by: ivelin <ivelin117@gmail.com >
2024-11-05 15:30:59 +01:00
