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df96e5b3b2bfce86b1d43e78385c85130f8a4a07
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127 Commits

Author SHA1 Message Date
Michel Aractingi
df96e5b3b2 Adapted gym_manipulator to teh new convention in robot devices 
changed the motor bus tranformation to degrees but considering the min and max
fixed the kinematics in the so100_follower_end_effector
 2025-06-03 17:30:50 +02:00
Michel Aractingi
e044208534 precomit nits 2025-06-03 17:30:50 +02:00
Michel Aractingi
2f62e5496e fixed naming convention in gym_manipulator, adapted get observation to so100_follower_end_effector 2025-06-03 17:30:50 +02:00
Michel Aractingi
2475645f5f Modified kinematics code to be independant of drive mode 
Modified gym_manipulator.py and find_joint_limits to adhere to the refactor of robot devices
Modified the configuration of envs to take into account the refactor
 2025-06-03 17:30:48 +02:00
Michel Aractingi
05fcfca374 - added back degrees mode back to motor bus for IK and FK to work properly 
- created new so100followerendeffector robot that inherits from so100follower but takes eef actions and transforms them to joint positions
- created teleop_gamepad device to use gamepad as a teleoperater
 2025-06-03 17:30:31 +02:00
AdilZouitine
520cc69534 Add review feedback 2025-06-03 17:30:22 +02:00
AdilZouitine
1df2a7b2da Add review feedback 2025-06-03 17:30:22 +02:00
Adil Zouitine
a5f758d7c6 [HIL-SERL] Review feedback modifications (#1112) 2025-06-03 17:30:22 +02:00
Eugene Mironov
f8a963b86f Fixup proto header (#1104) 2025-06-03 17:30:21 +02:00
pre-commit-ci[bot]
42b0efdd99 [pre-commit.ci] auto fixes from pre-commit.com hooks 
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 2025-06-03 17:30:21 +02:00
Michel Aractingi
335c92c961 Added comment on SE(3) in kinematics and nits in lerobot/envs/utils.py 2025-06-03 17:30:21 +02:00
Michel Aractingi
7694d03dee Improved the takeover logic in the case of leader_automatic control_mode in gym_manipulator.py 2025-06-03 17:30:21 +02:00
Michel Aractingi
aa793cbd4a Added number of steps after success as parameter in config 2025-06-03 17:30:21 +02:00
Michel Aractingi
db86586530 Fixes in record_dataset and import gym_hil 2025-06-03 17:30:21 +02:00
Michel Aractingi
dd9c35ba78 removed fixed port values in find_joint_limits.py 2025-06-03 17:30:21 +02:00
Michel Aractingi
7b45c56be5 robot_type nit 2025-06-03 17:30:21 +02:00
Michel Aractingi
f762e2758f added names in record_dataset function of gym_manipulator 2025-06-03 17:30:21 +02:00
Michel Aractingi
0061c217bd style nit 2025-06-03 17:30:21 +02:00
Michel Aractingi
53fc441a8a Added missing lisences 2025-06-03 17:30:21 +02:00
Adil Zouitine
049773a5fa [HIL SERL] Env management and add gym-hil (#1077) 
Co-authored-by: Michel Aractingi <michel.aractingi@gmail.com>
 2025-06-03 17:30:21 +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
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
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
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 
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 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