Michel Aractingi
e856ffc91e
Removed unnecessary time.sleep in the streaming server on the learner side
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-03 15:07:58 +00:00
Michel Aractingi
42618f4bd6
- Added additional logging information in wandb around the timings of the policy loop and optimization loop.
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- Optimized critic design that improves the performance of the learner loop by a factor of 2
- Cleaned the code and fixed style issues
- Completed the config with actor_learner_config field that contains host-ip and port elemnts that are necessary for the actor-learner servers.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-03 15:07:58 +00:00
Michel Aractingi
36576c958f
FREEDOM, added back the optimization loop code in learner_server.py
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Ran experiment with pushcube env from maniskill. The learning seem to work.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-03 15:07:58 +00:00
Michel Aractingi
322a78a378
Added server directory in lerobot/scripts that contains scripts and the protobuf message types to split training into two processes, acting and learning. The actor rollouts the policy and collects interaction data while the learner recieves the data, trains the policy and sends the updated parameters to the actor. The two scripts are ran simultaneously
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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-03 15:07:58 +00:00
