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Sign issue in modeling sac

This commit is contained in:
Michel Aractingi 2025-04-08 11:05:10 +02:00
parent 06de182448
commit 10adadbc71
3 changed files with 4 additions and 3 deletions
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2
lerobot/common/envs/configs.py
View File

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

2
lerobot/scripts/server/buffer.py
View File

@ -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) transition["complementary_info"][key] = val.to(device, non_blocking=non_blocking)
elif isinstance(val, (int, float, bool)): elif isinstance(val, (int, float, bool)):
transition["complementary_info"][key] = torch.tensor( transition["complementary_info"][key] = torch.tensor(
val, device=device, non_blocking=non_blocking val, device=device
) )
else: else:
raise ValueError(f"Unsupported type {type(val)} for complementary_info[{key}]") raise ValueError(f"Unsupported type {type(val)} for complementary_info[{key}]")

3
lerobot/scripts/server/gym_manipulator.py
View File

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