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Author SHA1 Message Date
Michel Aractingi
2ae657f568 FREEDOM, added back the optimization loop code in learner_server.py 
Ran experiment with pushcube env from maniskill. The learning seem to work.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
Michel Aractingi
508f5d1407 Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously 
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
 2025-04-18 15:04:13 +02:00
AdilZouitine
c8b1132846 Stable version of rlpd + drq 2025-04-18 15:04:10 +02:00
AdilZouitine
ef777993cd Add type annotations and restructure SACConfig class fields 2025-04-18 15:03:51 +02:00
Adil Zouitine
760d60ad4b Change SAC policy implementation with configuration and modeling classes 2025-04-18 15:03:51 +02:00
Adil Zouitine
875c0271b7 SAC works 2025-04-18 15:03:51 +02:00
Adil Zouitine
57344bfde5 [WIP] correct sac implementation 2025-04-18 15:03:51 +02:00
Adil Zouitine
46827fb002 Add rlpd tricks 2025-04-18 15:03:51 +02:00
Adil Zouitine
2fd78879f6 SAC works 2025-04-18 15:03:51 +02:00
Adil Zouitine
e8449e9630 remove breakpoint 2025-04-18 15:03:51 +02:00
Adil Zouitine
a0e2be8b92 [WIP] correct sac implementation 2025-04-18 15:03:51 +02:00
Michel Aractingi
181727c0fe Extend reward classifier for multiple camera views (#626) 2025-04-18 15:03:50 +02:00
Eugene Mironov
d1d6ffd23c [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-04-18 15:03:01 +02:00
Michel Aractingi
e5801f467f added temporary fix for missing task_index key in online environment 2025-04-18 15:03:01 +02:00
Michel Aractingi
c6ca9523de split encoder for critic and actor 2025-04-18 15:03:01 +02:00
Michel Aractingi
642e3a3274 style fixes 2025-04-18 15:03:01 +02:00
KeWang1017
146148c48c Refactor SAC configuration and policy for improved action sampling and stability 
- Updated SACConfig to replace standard deviation parameterization with log_std_min and log_std_max for better control over action distributions.
- Modified SACPolicy to streamline action selection and log probability calculations, enhancing stochastic behavior.
- Removed deprecated TanhMultivariateNormalDiag class to simplify the codebase and improve maintainability.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2025-04-18 15:03:01 +02:00
KeWang1017
8f15835daa Refine SAC configuration and policy for enhanced performance 
- 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.
 2025-04-18 15:03:01 +02:00
KeWang1017
022bd65125 Refactor SACPolicy for improved action sampling and standard deviation handling 
- Updated action selection to use distribution sampling and log probabilities for better stochastic behavior.
- Enhanced standard deviation clamping to prevent extreme values, ensuring stability in policy outputs.
- Cleaned up code by removing unnecessary comments and improving readability.

These changes aim to refine the SAC implementation, enhancing its robustness and performance during training and inference.
 2025-04-18 15:03:01 +02:00
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 
- 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) 
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 
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) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-04-18 15:02:13 +02:00
Yoel
4a7f85a6ec Reward classifier and training (#528) 
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) 
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) 
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) 
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) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-04-14 21:55:06 +02:00