fix sign issue

2025-04-07 15:44:06 +00:00 · 2025-04-07 15:44:06 +00:00 · 632b2b46c1
parent 6c10390653
commit 632b2b46c1
1 changed files with 1 additions and 1 deletions
--- a/lerobot/common/policies/sac/modeling_sac.py
+++ b/lerobot/common/policies/sac/modeling_sac.py
@ -448,7 +448,7 @@ class SACPolicy(
        # Compute target Q-value with Bellman equation
        rewards_gripper = rewards
        if gripper_penalties is not None:
-            rewards_gripper = rewards - gripper_penalties
+            rewards_gripper = rewards + gripper_penalties
        target_grasp_q = rewards_gripper + (1 - done) * self.config.discount * target_next_grasp_q

        # Get predicted Q-values for current observations