4 Commits

Author	SHA1	Message	Date
Michel Aractingi	c462a478c7	Hardcoded some normalization parameters. TODO refactor ... Added masking actions on the level of the intervention actions and offline dataset Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>	2025-02-13 14:27:14 +01:00
Michel Aractingi	a7db3959f5	- Added JointMaskingActionSpace wrapper in gym_manipulator in order to select which joints will be controlled. For example, we can disable the gripper actions for some tasks. ... - Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop. - changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps - Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only. Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>	2025-02-11 11:34:46 +01:00
Michel Aractingi	d51374ce12	Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment. ... Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>	2025-02-10 16:03:39 +01:00
Michel Aractingi	7d5a9530f7	fixed bug in crop_dataset_roi.py ... added missing buffer.pt in server dir Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>	2025-02-05 18:22:50 +00:00