From 632b2b46c1f7dca5338b87b1d20c3306c1719ff6 Mon Sep 17 00:00:00 2001 From: AdilZouitine Date: Mon, 7 Apr 2025 15:44:06 +0000 Subject: [PATCH] fix sign issue --- lerobot/common/policies/sac/modeling_sac.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/policies/sac/modeling_sac.py b/lerobot/common/policies/sac/modeling_sac.py index e3d3765e..9b909813 100644 --- 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