Michel Aractingi
506821c7df
- Refactor observation encoder in modeling_sac.py
...
- added `torch.compile` to the actor and learner servers.
- organized imports in `train_sac.py`
- optimized the parameters push by not sending the frozen pre-trained encoder.
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
...
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com >
2025-02-03 15:07:58 +00:00
AdilZouitine
d75b44f89f
Stable version of rlpd + drq
2025-02-03 15:07:57 +00:00
Adil Zouitine
7d2970fdfe
Change SAC policy implementation with configuration and modeling classes
2025-02-03 15:07:50 +00:00
Adil Zouitine
c1d4bf4b63
SAC works
2025-02-03 15:06:18 +00:00
Adil Zouitine
be965019bd
Add rlpd tricks
2025-02-03 15:06:18 +00:00
Adil Zouitine
a0a50de8c9
SAC works
2025-02-03 15:06:18 +00:00
Adil Zouitine
472a7f58ad
[WIP] correct sac implementation
2025-02-03 15:06:14 +00:00
