- Changed the device assignment for tensors in the ReplayBuffer class from `device` to `storage_device` for consistency and improved resource management.
- Deleted the `find_and_copy_params` function and the `Ensemble` class, as they were deemed unnecessary.
- Cleaned up imports by removing `from_modules` from `tensordict` to enhance code clarity.
- Simplified the assertion in the `Policy` class for better readability.
- Introduced counters for tracking intervention steps and total steps during training.
- Calculated and logged the intervention rate at the end of each episode.
- Reset intervention counters after each episode to ensure accurate tracking.
- Increased frame rate in `maniskill_example.yaml` from 20 to 400 for enhanced simulation speed.
- Updated `sac_maniskill.yaml` to set `dataset_repo_id` to null and adjusted `grad_clip_norm` from 10.0 to 40.0.
- Changed `storage_device` from "cpu" to "cuda" for better resource utilization.
- Modified `save_freq` from 2000000 to 1000000 to optimize saving intervals.
- Enhanced input normalization parameters for `observation.state` and `observation.image` in SAC policy.
- Adjusted `num_critics` from 10 to 2 and `policy_parameters_push_frequency` from 1 to 4 for improved training dynamics.
- Updated `learner_server.py` to utilize `offline_buffer_capacity` for replay buffer initialization.
- Changed action multiplier in `maniskill_manipulator.py` from 1 to 0.03 for finer control over actions.
- Updated SACPolicy to create critic heads using a list comprehension for better readability.
- Simplified the saving and loading of models using `save_model` and `load_model` functions from the safetensors library.
- Introduced `initialize_offline_replay_buffer` function in the learner server to streamline offline dataset handling and replay buffer initialization.
- Enhanced logging for dataset loading processes to improve traceability during training.
- Introduced `grad_clip_norm` parameter in SAC configuration for gradient clipping
- Updated SACPolicy to store temperature as an instance variable for consistent usage
- Modified loss calculations in SACPolicy to utilize the instance temperature
- Enhanced MLP and CriticHead to support a customizable final activation function
- Implemented gradient clipping in the learner server during training steps for both actor and critic
- Added tracking for gradient norms in training information
- Implement `_save_pretrained` method to handle TensorDict state saving
- Add `_from_pretrained` class method for loading SAC policy from files
- Create utility function `find_and_copy_params` to handle parameter copying
- Removed `@torch.no_grad` decorator from Unnormalize forward method
- Added TODO comment for optimizing next action prediction in SAC policy
- Minor formatting adjustment in NaN assertion for log standard deviation
Co-authored-by: Yoel Chornton <yoel.chornton@gmail.com>
- Introduce `storage_device` parameter in SAC configuration and training settings
- Update learner server to use configurable storage device for replay buffer
- Reduce online buffer capacity in ManiSkill configuration
- Modify replay buffer initialization to support custom storage device
- Introduce `optimize_memory` parameter to reduce memory usage in replay buffer
- Implement simplified memory optimization by not storing duplicate next_states
- Update learner server and buffer initialization to use memory optimization by default
- Replaced list-based memory storage with pre-allocated tensor storage
- Optimized sampling process with direct tensor indexing
- Added support for DrQ image augmentation during sampling for offline dataset
- Improved dataset conversion with more robust episode handling
- Enhanced buffer initialization and state tracking
- Added comprehensive testing for buffer conversion and sampling
- Reduced image size in ManiSkill environment configuration from 128 to 64
- Added support for truncation in replay buffer and actor server
- Updated SAC policy configuration to use a specific dataset and modify vision encoder settings
- Improved dataset conversion process with progress tracking and task naming
- Added flexibility for joint action space masking in learner server
- Introduced Ensemble and CriticHead classes for more efficient critic network handling
- Added support for multiple camera inputs in observation encoder
- Optimized image encoding by batching image processing
- Updated configuration for ManiSkill environment with reduced image size and action scaling
- Compiled critic networks for improved performance
- Simplified normalization and ensemble handling in critic networks
Co-authored-by: michel-aractingi <michel.aractingi@gmail.com>
- Fixed big issue in the normalization of the actions in the `forward` function of the critic -- remove the `torch.no_grad` decorator in `normalize.py` in the normalization function
- Fixed performance issue to boost the optimization frequency by setting the storage device to be the same as the device of learning.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
- Modify logger to support multiple custom step keys
- Update logging method to handle custom step keys more flexibly
- Enhance logging of optimization step and frequency
Co-authored-by: michel-aractingi <michel.aractingi@gmail.com>
Co-authored-by: Khalil Meftah <kmeftah.khalil@gmail.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Ke Wang <superwk1017@gmail.com>
- Added Nan detection mechanisms in the actor, learner and gym_manipulator for the case where we encounter nans in the loop.
- changed the non-blocking in the `.to(device)` functions to only work for the case of cuda because they were causing nans when running the policy on mps
- Added some joint clipping and limits in the env, robot and policy configs. TODO clean this part and make the limits in one config file only.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
- Added `lerobot/scripts/server/find_joint_limits.py` to test the min and max angles of the motion you wish the robot to explore during RL training.
- Added logic in `manipulator.py` to limit the maximum possible joint angles to allow motion within a predefined joint position range. The limits are specified in the yaml config for each robot. Checkout the so100.yaml.
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
AdilZouitine
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