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fixed softmax temp

This commit is contained in:
Michel Aractingi 2025-04-08 13:35:25 +02:00
parent 10adadbc71
commit e36bee7560
1 changed files with 3 additions and 2 deletions
lerobot/common/policies/sac
modeling_sac.py

5
lerobot/common/policies/sac/modeling_sac.py
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@ -129,7 +129,7 @@ class SACPolicy(
encoder=encoder_critic, encoder=encoder_critic,
input_dim=encoder_critic.output_dim, input_dim=encoder_critic.output_dim,
output_dim=config.num_discrete_actions, output_dim=config.num_discrete_actions,
softmax_temperature=1.0, softmax_temperature=.15,
**asdict(config.grasp_critic_network_kwargs), **asdict(config.grasp_critic_network_kwargs),
) )
@ -138,7 +138,7 @@ class SACPolicy(
encoder=encoder_critic, encoder=encoder_critic,
input_dim=encoder_critic.output_dim, input_dim=encoder_critic.output_dim,
output_dim=config.num_discrete_actions, output_dim=config.num_discrete_actions,
softmax_temperature=1.0, softmax_temperature=0.15,
**asdict(config.grasp_critic_network_kwargs), **asdict(config.grasp_critic_network_kwargs),
) )
@ -786,6 +786,7 @@ class GraspCritic(nn.Module):
super().__init__() super().__init__()
self.encoder = encoder self.encoder = encoder
self.output_dim = output_dim self.output_dim = output_dim
self.softmax_temperature = softmax_temperature
self.net = MLP( self.net = MLP(
input_dim=input_dim, input_dim=input_dim,