KeWang1017
63d8c96514
trying to get sac running
2025-04-18 15:03:01 +02:00
Michel Aractingi
4624a836e5
Added normalization schemes and style checks
2025-04-18 15:03:01 +02:00
Michel Aractingi
ad7eea132d
added optimizer and sac to factory.py
2025-04-18 15:02:59 +02:00
Eugene Mironov
22a1899ff4
[HIL-SERL PORT] Fix linter issues ( #588 )
2025-04-18 15:02:44 +02:00
Eugene Mironov
17a3a31b5f
[Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script ( #578 )
2025-04-18 15:02:42 +02:00
Michel Aractingi
1a8b99e360
added comments from kewang
2025-04-18 15:02:13 +02:00
KeWang1017
6db2154f28
Enhance SAC configuration and policy with new parameters and subsampling logic
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- Added `num_subsample_critics`, `critic_target_update_weight`, and `utd_ratio` to SACConfig.
- Implemented target entropy calculation in SACPolicy if not provided.
- Introduced subsampling of critics to prevent overfitting during updates.
- Updated temperature loss calculation to use the new target entropy.
- Added comments for future UTD update implementation.
These changes improve the flexibility and performance of the SAC implementation.
2025-04-18 15:02:13 +02:00
KeWang
be3adda95f
Port SAC WIP ( #581 )
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Co-authored-by: KeWang1017 <ke.wang@helloleap.ai >
2025-04-18 15:02:13 +02:00
Michel Aractingi
9d48d236c1
completed losses
2025-04-18 15:02:13 +02:00
Michel Aractingi
b57d6a7776
nit in control_robot.py
2025-04-18 15:02:13 +02:00
Michel Aractingi
d1f76cba8e
Update lerobot/scripts/train_hilserl_classifier.py
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Co-authored-by: Yoel <yoel.chornton@gmail.com >
2025-04-18 15:02:13 +02:00
Eugene Mironov
d78cef1fee
Fixup
2025-04-18 15:02:13 +02:00
Michel Aractingi
30a808c0ae
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 >
2025-04-18 15:02:13 +02:00
Yoel
4a7f85a6ec
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 >
2025-04-18 15:02:13 +02:00
Simon Alibert
b6b9635be6
Remove names
2025-04-18 09:48:16 +02:00
Simon Alibert
21b1026872
Remove deprecated dynamixel_calibration
2025-04-18 09:34:46 +02:00
Simon Alibert
8c3eab32b0
Remove deprecated configure_motor
2025-04-18 09:19:43 +02:00
Simon Alibert
29633865c7
Fix _find_single_motor
2025-04-18 09:18:56 +02:00
Simon Alibert
702749b7d3
Fix setup_motor & add it to robots
2025-04-17 16:56:38 +02:00
k1000dai
b43ece8934
Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev ( #987 )
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Co-authored-by: makolon <smakolon385@gmail.com >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 16:17:07 +02:00
Alex Thiele
c10c5a0e64
Fix --width --height type parsing on opencv and intelrealsense scripts ( #556 )
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Co-authored-by: Remi <remi.cadene@huggingface.co >
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 15:19:23 +02:00
Junshan Huang
a8db91c40e
Fix Windows HTML visualization to make videos could be seen ( #647 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org >
2025-04-17 15:07:28 +02:00
HUANG TZU-CHUN
0f5f7ac780
Fix broken links in examples/4_train_policy_with_script.md ( #697 )
2025-04-17 14:59:43 +02:00
Simon Alibert
bf1c737858
Fix calibration msg display
2025-04-17 13:18:32 +02:00
Simon Alibert
d07c7347f8
Add setup_motor
2025-04-17 13:14:06 +02:00
Simon Alibert
57e5e4cc07
Move read/write_calibration implementations
2025-04-16 11:23:33 +02:00
Simon Alibert
2743c29a96
Update feetech tables
2025-04-16 11:01:12 +02:00
Simon Alibert
2bb73ac431
Add torque_disabled context
2025-04-15 11:43:22 +02:00
Simon Alibert
9afc4b771c
Motors config & disconnect fixes
2025-04-15 11:20:42 +02:00
Simon Alibert
f71e224023
Fix tests
2025-04-15 11:18:44 +02:00
pre-commit-ci[bot]
768e36660d
[pre-commit.ci] pre-commit autoupdate ( #980 )
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-04-14 21:55:06 +02:00
Simon Alibert
889de7c415
Add handshake, fix feetech _read_firmware_version
2025-04-14 17:14:06 +02:00
Caroline Pascal
790d6740ba
fix(installation): adding note on ffmpeg version during installation ( #976 )
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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com >
2025-04-14 15:36:31 +02:00
Simon Alibert
3539251b18
Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots
2025-04-14 15:30:35 +02:00
Simon Alibert
1f210bc8a3
Refactor tests
2025-04-14 15:26:29 +02:00
Simon Alibert
d70bc4bde9
Add more segmented tests (dynamixel)
2025-04-14 15:16:38 +02:00
Simon Alibert
bdbca09cb2
Add more segmented tests (base motor bus & feetech), add feetech protocol 1 support
2025-04-14 11:56:53 +02:00
Simon Alibert
e0b292ab51
Remove test_motors_bus fixtures
2025-04-11 12:24:30 +02:00
Simon Alibert
f960f4d8d4
Fix unormalize
2025-04-11 11:58:31 +02:00
Simon Alibert
9e57ec7837
Add support for feetech protocol 1 to _split_into_byte_chunks
2025-04-11 11:58:09 +02:00
Simon Alibert
0a7f51f0da
Cleanup
2025-04-11 11:03:09 +02:00
Simon Alibert
4ca92a28e9
Make feetech broadcast ping faster in protocol 1
2025-04-11 11:02:54 +02:00
Simon Alibert
0464dc91b3
Add feetech sm8512bl
2025-04-11 11:02:01 +02:00
Simon Alibert
d32daebf75
Refactor & add _serialize_data
2025-04-11 11:01:12 +02:00
Simon Alibert
27cb0c40bd
Add protocol 1 broadcast ping
2025-04-10 17:14:40 +02:00
Simon Alibert
12abc9ca86
Fix broadcast ping type hint
2025-04-10 00:53:17 +02:00
Simon Alibert
4005065223
(nit) move write
2025-04-10 00:51:23 +02:00
Simon Alibert
443fed216c
Use constants from sdks
2025-04-10 00:49:03 +02:00
Simon Alibert
42a87e7211
Implement read
2025-04-10 00:35:14 +02:00
Steven Palma
5322417c03
fix(examples): removes extra backtick ( #948 )
2025-04-09 17:44:32 +02:00
