Sign issue in modeling sac

lerobot/common/envs/configs.py

@@ -202,7 +202,7 @@ class EnvWrapperConfig:
     ee_action_space_params: Optional[EEActionSpaceConfig] = None
     use_gripper: bool = False
     gripper_quantization_threshold: float | None = None
-    gripper_penalty: float = 0.0
+    gripper_penalty: float  = 0.0
     gripper_penalty_in_reward: bool = False
     open_gripper_on_reset: bool = False
 

lerobot/scripts/server/buffer.py

@@ -79,7 +79,7 @@ def move_transition_to_device(transition: Transition, device: str = "cpu") -> Tr
                 transition["complementary_info"][key] = val.to(device, non_blocking=non_blocking)
             elif isinstance(val, (int, float, bool)):
                 transition["complementary_info"][key] = torch.tensor(
-                    val, device=device, non_blocking=non_blocking
+                    val, device=device
                 )
             else:
                 raise ValueError(f"Unsupported type {type(val)} for complementary_info[{key}]")

lerobot/scripts/server/gym_manipulator.py

@@ -1195,7 +1195,8 @@ def make_robot_env(cfg) -> gym.vector.VectorEnv:
         env = GripperActionWrapper(
             env=env, quantization_threshold=cfg.wrapper.gripper_quantization_threshold
         )
-        env = GripperPenaltyWrapper(env=env, penalty=cfg.wrapper.gripper_penalty, gripper_penalty_in_reward=cfg.wrapper.gripper_penalty_in_reward)
+        if cfg.wrapper.gripper_penalty is not None:
+            env = GripperPenaltyWrapper(env=env, penalty=cfg.wrapper.gripper_penalty, gripper_penalty_in_reward=cfg.wrapper.gripper_penalty_in_reward)
 
     if cfg.wrapper.ee_action_space_params is not None:
         env = EEActionWrapper(