mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-31 19:01:28 +00:00
306c735172
- Updated SACPolicy to conditionally compute losses for grasp critic based on num_discrete_actions. - Simplified forward method to return loss outputs as a dictionary for better clarity. - Adjusted learner_server to handle both main and grasp critic losses during training. - Ensured optimizers are created conditionally for grasp critic based on configuration settings.