AdilZouitine 0ed7ff142c 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.

2025-04-02 15:50:39 +00:00

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