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368 Commits

Author SHA1 Message Date
AdilZouitine
98ad1cbae0 Add review feedback 2025-05-16 17:19:02 +02:00
AdilZouitine
539dbd18ce Add review feedback 2025-05-16 14:25:21 +02:00
Adil Zouitine
2051dd38fc [HIL-SERL] Review feedback modifications (#1112) 2025-05-15 15:24:41 +02:00
Eugene Mironov
bfa775da46 Fixup proto header (#1104) 2025-05-13 17:16:01 +02:00
pre-commit-ci[bot]
15c7545b41 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-05-12 16:05:46 +00:00
Michel Aractingi
bbc6b7d841 Added comment on SE(3) in kinematics and nits in lerobot/envs/utils.py 2025-05-12 18:05:22 +02:00
Michel Aractingi
69ece1407b Improved the takeover logic in the case of leader_automatic control_mode in gym_manipulator.py 2025-05-12 17:47:13 +02:00
Michel Aractingi
b104f8b012 Added number of steps after success as parameter in config 2025-05-09 18:09:10 +02:00
Michel Aractingi
fb9bb89cb4 Fixes in record_dataset and import gym_hil 2025-05-09 12:00:21 +02:00
Michel Aractingi
e22411ff22 removed fixed port values in find_joint_limits.py 2025-05-07 14:32:42 +02:00
Michel Aractingi
bdd9229576 robot_type nit 2025-05-07 13:59:21 +02:00
Michel Aractingi
633edcb3af added names in record_dataset function of gym_manipulator 2025-05-07 13:58:24 +02:00
Michel Aractingi
32fb13c81e style nit 2025-05-07 10:07:54 +02:00
Michel Aractingi
6792c3de8f Added missing lisences 2025-05-07 10:06:59 +02:00
Adil Zouitine
ad132c9c39 [HIL SERL] Env management and add gym-hil (#1077) 
Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
 2025-05-07 09:39:21 +02:00
Adil Zouitine
70d55c77e9 Merge branch 'main' into user/adil-zouitine/2025-1-7-port-hil-serl-new 2025-05-06 16:43:44 +02:00
Michel Aractingi
5998203a33 [Port HIL-SERL] Final fixes for reward classifier (#1067) 
Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-05-05 11:33:09 +02:00
omahs
8cfab38824 Fix typos (#1070) 2025-05-05 10:35:32 +02:00
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
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
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
AdilZouitine
b77cee7cc6 Ignore spellcheck for ik variable 2025-04-22 13:19:59 +00:00
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 
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 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
pre-commit-ci[bot]
fb92935601 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-04-18 13:33:37 +00:00
AdilZouitine
2f7339b410 Handle caching 
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
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
pre-commit-ci[bot]
28b595c651 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 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
AdilZouitine
e18274bc9a fix caching and dataset stats is optional 2025-04-18 15:10:22 +02:00
pre-commit-ci[bot]
a3ada81816 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-04-18 15:10:22 +02:00
AdilZouitine
78c640b6d8 Refactor complementary_info handling in ReplayBuffer 2025-04-18 15:10:22 +02:00
AdilZouitine
d5a87f67cf Handle gripper penalty 2025-04-18 15:10:22 +02:00
AdilZouitine
8bcf41761d fix caching 2025-04-18 15:10:22 +02:00
pre-commit-ci[bot]
1efaf02df9 [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
cf58890bb0 fix indentation issue 2025-04-18 15:10:22 +02:00
AdilZouitine
7c2c67fc3c Enhance SAC configuration and replay buffer with asynchronous prefetching support 
- Added async_prefetch parameter to SACConfig for improved buffer management.
- Implemented get_iterator method in ReplayBuffer to support asynchronous prefetching of batches.
- Updated learner_server to utilize the new iterator for online and offline sampling, enhancing training efficiency.
 2025-04-18 15:10:22 +02:00
AdilZouitine
6167886472 Enhance SACPolicy and learner server for improved grasp critic integration 
- Updated SACPolicy to conditionally compute grasp critic losses based on the presence of discrete actions.
- Refactored the forward method to handle grasp critic model selection and loss computation more clearly.
- Adjusted learner server to utilize optimized parameters for grasp critic during training.
- Improved action handling in the ManiskillMockGripperWrapper to accommodate both tuple and single action inputs.
 2025-04-18 15:10:22 +02:00