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Author SHA1 Message Date
AdilZouitine
fb7c288c94 Update torch.load calls in network_utils.py to include weights_only=False, to ensure no regression with torch 2.6 update 2025-04-29 18:23:51 +02:00
AdilZouitine
4257fe5045 rename reward classifier 2025-04-25 18:38:52 +02:00
Michel Aractingi
ea89b29fe5 checkout normalize.py to prev commit 2025-04-25 18:10:59 +02:00
AdilZouitine
50e9a8ed6a cleaning 2025-04-25 17:22:02 +02:00
Adil Zouitine
1d4f660075 Merge branch 'main' into user/adil-zouitine/2025-1-7-port-hil-serl-new 2025-04-25 16:35:54 +02:00
Michel Aractingi
bd4db8d747 [Port HIl-Serl] Refactor gym-manipulator (#1034) 2025-04-25 16:34:54 +02:00
AdilZouitine
a8da4a347e Clean the code 2025-04-24 17:22:54 +02:00
AdilZouitine
b8c2b0bb93 Clean the code and remove todo 2025-04-24 16:10:56 +02:00
Adil Zouitine
c58b504a9e [HIL-SERL]Remove overstrict pre-commit modifications (#1028) 2025-04-24 13:48:52 +02:00
Adil Zouitine
a75d00970f fix(ci): Pin torchcodec (==0.2.1) to fix pipeline temporarly (#1030) 2025-04-24 12:16:02 +02:00
Adil Zouitine
671ac3411f Merge branch 'main' into user/adil-zouitine/2025-1-7-port-hil-serl-new 2025-04-24 10:29:04 +02:00
Adil Zouitine
299effe0f1 [HIL-SERL] Update CI to allow installation of prerelease versions for lerobot (#1018) 
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
 2025-04-24 10:18:03 +02:00
Adil Zouitine
4df18de636 fix(ci): Pin draccus (<0.10.0) and torch (<2.7) to fix pipeline (#1022) 
Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-04-24 09:42:03 +02:00
Simon Alibert
8dc69c6126 Revert "[pre-commit.ci] pre-commit autoupdate" (#1025) 2025-04-24 09:26:47 +02:00
pre-commit-ci[bot]
7d481e6048 [pre-commit.ci] pre-commit autoupdate (#1011) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-04-23 21:53:09 +02:00
AdilZouitine
a0018240d5 fix ci 2025-04-22 16:16:04 +02:00
AdilZouitine
cf03ca930f allow to install prerelease for maniskill 2025-04-22 14:07:31 +00:00
AdilZouitine
ecc960bf8a fix install ci 2025-04-22 13:31:47 +00:00
AdilZouitine
b77cee7cc6 Ignore spellcheck for ik variable 2025-04-22 13:19:59 +00:00
AdilZouitine
5231752487 Fix test comparing uninitialized array segment 
The test was inadvertently comparing uninitialized parts of the array,
which could lead to inconsistent or undefined results. This fix ensures
only the relevant, properly initialized sections are checked.

Co-authored-by: Eugene Mironov <helper2424@gmail.com>
 2025-04-22 15:13:10 +02:00
Eugene Mironov
4ce3362724 Fixup linter (#1017) 2025-04-22 14:43:13 +02:00
AdilZouitine
6230840397 Fix linter issue part 2 2025-04-22 10:56:23 +02:00
AdilZouitine
c5845ee203 Fix linter issue 2025-04-22 10:37:08 +02:00
Eugene Mironov
0030ff3f74 [HIL-SERl PORT] Unit tests for Replay Buffer (#966) 2025-04-22 09:35:57 +02:00
Michel Aractingi
dc726cb9a3 Refactor crop_dataset_roi 2025-04-22 09:31:35 +02:00
AdilZouitine
a7a51cfc9c Refactor SACPolicy and configuration to replace 'grasp_critic' terminology with 'discrete_critic'. Update related methods and comments for clarity and consistency in handling discrete actions. 2025-04-18 14:57:03 +00:00
pre-commit-ci[bot]
0d70f0b85c [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 14:22:11 +00:00
Michel Aractingi
c1ee25d9f7 nits in configuration classifier and control_robot 2025-04-18 16:18:13 +02:00
Michel Aractingi
9886520d33 Added option to add current readings to the state of the policy 2025-04-18 16:18:13 +02:00
Michel Aractingi
3b24ad3c84 Fixes for the reward classifier 2025-04-18 16:18:13 +02:00
AdilZouitine
54c3c6d684 Enhance MLP class in modeling_sac.py with detailed docstring and refactor layer construction for improved readability. Simplify layer addition logic by removing unnecessary conditions and ensuring consistent handling of activations and dropout. 2025-04-18 14:15:06 +00:00
pre-commit-ci[bot]
fb92935601 [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 13:33:37 +00:00
AdilZouitine
dcd850feab Refactor SACObservationEncoder to improve modularity and readability. Split initialization into dedicated methods for image and state layers, and enhance caching logic for image features. Update forward method to streamline feature encoding and ensure proper normalization handling. 2025-04-18 15:10:22 +02:00
AdilZouitine
1ce368503d Refactor SACPolicy initialization by breaking down the constructor into smaller methods for normalization, encoders, critics, actor, and temperature setup. This enhances readability and maintainability. 2025-04-18 15:10:22 +02:00
AdilZouitine
fb075a709d Refactor input and output normalization handling in SACPolicy for improved clarity and efficiency. Consolidate encoder initialization logic and remove redundant else statements. 2025-04-18 15:10:22 +02:00
AdilZouitine
3424644ecd Fix init temp 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
c37936f2c9 Update log_std_min type to float in PolicyConfig for consistency 2025-04-18 15:10:22 +02:00
AdilZouitine
c5382a450c fix caching 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
2f7339b410 Handle caching 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
9e5f254db0 change the tanh distribution to match hil serl 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
8122721f6d match target entropy hil serl 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
5c352ae558 stick to hil serl nn architecture 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
9386892f8e Refactor modeling_sac and parameter handling for clarity and reusability. 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
 2025-04-18 15:10:22 +02:00
AdilZouitine
267a837a2c fix encoder training 2025-04-18 15:10:22 +02:00
pre-commit-ci[bot]
28b595c651 [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:10:22 +02:00
Michel Aractingi
9fd4c21d4d General fixes in code, removed delta action, fixed grasp penalty, added logic to put gripper reward in info 2025-04-18 15:10:22 +02:00
pre-commit-ci[bot]
02e1ed0bfb [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:10:22 +02:00
AdilZouitine
e18274bc9a fix caching and dataset stats is optional 2025-04-18 15:10:22 +02:00
AdilZouitine
68c271ad25 Add rounding for safety 2025-04-18 15:10:22 +02:00
pre-commit-ci[bot]
a3ada81816 [pre-commit.ci] auto fixes from pre-commit.com hooks 
for more information, see https://pre-commit.ci
 2025-04-18 15:10:22 +02:00