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General fixes in code, removed delta action, fixed grasp penalty, added logic to put gripper reward in info

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This commit is contained in:
Michel Aractingi
2025-04-09 17:04:43 +02:00
committed by Adil Zouitine
parent a80a9cf379
commit 9eec7b8bb0
7 changed files with 75 additions and 65 deletions
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4
lerobot/scripts/server/learner_server.py
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@@ -406,7 +406,8 @@ def add_actor_information_and_train(
"next_state": next_observations,
"done": done,
"observation_feature": observation_features,
"next_observation_feature": next_observation_features,
"next_observation_feature": next_observation_features,
"complementary_info": batch["complementary_info"],
}
# Use the forward method for critic loss (includes both main critic and grasp critic)
@@ -992,7 +993,6 @@ def initialize_offline_replay_buffer(
device=device,
state_keys=cfg.policy.input_features.keys(),
action_mask=active_action_dims,
action_delta=cfg.env.wrapper.delta_action,
storage_device=storage_device,
optimize_memory=True,
capacity=cfg.policy.offline_buffer_capacity,