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860 Commits

Author SHA1 Message Date
Adil Zouitine e8449e9630 remove breakpoint 2025-04-18 15:03:51 +02:00
Adil Zouitine a0e2be8b92 [WIP] correct sac implementation 2025-04-18 15:03:51 +02:00
Michel Aractingi 181727c0fe Extend reward classifier for multiple camera views (#626) 2025-04-18 15:03:50 +02:00
Eugene Mironov d1d6ffd23c [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-04-18 15:03:01 +02:00
Michel Aractingi e5801f467f added temporary fix for missing task_index key in online environment 2025-04-18 15:03:01 +02:00
Michel Aractingi c6ca9523de split encoder for critic and actor 2025-04-18 15:03:01 +02:00
Michel Aractingi 642e3a3274 style fixes 2025-04-18 15:03:01 +02:00
KeWang1017 146148c48c Refactor SAC configuration and policy for improved action sampling and stability 
- Updated SACConfig to replace standard deviation parameterization with log_std_min and log_std_max for better control over action distributions.
- Modified SACPolicy to streamline action selection and log probability calculations, enhancing stochastic behavior.
- Removed deprecated TanhMultivariateNormalDiag class to simplify the codebase and improve maintainability.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2025-04-18 15:03:01 +02:00
KeWang1017 8f15835daa Refine SAC configuration and policy for enhanced performance 
- Updated standard deviation parameterization in SACConfig to 'softplus' with defined min and max values for improved stability.
- Modified action sampling in SACPolicy to use reparameterized sampling, ensuring better gradient flow and log probability calculations.
- Cleaned up log probability calculations in TanhMultivariateNormalDiag for clarity and efficiency.
- Increased evaluation frequency in YAML configuration to 50000 for more efficient training cycles.

These changes aim to enhance the robustness and performance of the SAC implementation during training and inference.
 2025-04-18 15:03:01 +02:00
KeWang1017 022bd65125 Refactor SACPolicy for improved action sampling and standard deviation handling 
- Updated action selection to use distribution sampling and log probabilities for better stochastic behavior.
- Enhanced standard deviation clamping to prevent extreme values, ensuring stability in policy outputs.
- Cleaned up code by removing unnecessary comments and improving readability.

These changes aim to refine the SAC implementation, enhancing its robustness and performance during training and inference.
 2025-04-18 15:03:01 +02:00
KeWang1017 63d8c96514 trying to get sac running 2025-04-18 15:03:01 +02:00
Michel Aractingi 4624a836e5 Added normalization schemes and style checks 2025-04-18 15:03:01 +02:00
Michel Aractingi ad7eea132d added optimizer and sac to factory.py 2025-04-18 15:02:59 +02:00
Eugene Mironov 22a1899ff4 [HIL-SERL PORT] Fix linter issues (#588) 2025-04-18 15:02:44 +02:00
Eugene Mironov 17a3a31b5f [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2025-04-18 15:02:42 +02:00
Michel Aractingi 1a8b99e360 added comments from kewang 2025-04-18 15:02:13 +02:00
KeWang1017 6db2154f28 Enhance SAC configuration and policy with new parameters and subsampling logic 
- Added `num_subsample_critics`, `critic_target_update_weight`, and `utd_ratio` to SACConfig.
- Implemented target entropy calculation in SACPolicy if not provided.
- Introduced subsampling of critics to prevent overfitting during updates.
- Updated temperature loss calculation to use the new target entropy.
- Added comments for future UTD update implementation.

These changes improve the flexibility and performance of the SAC implementation.
 2025-04-18 15:02:13 +02:00
KeWang be3adda95f Port SAC WIP (#581) 
Co-authored-by: KeWang1017 <ke.wang@helloleap.ai>
 2025-04-18 15:02:13 +02:00
Michel Aractingi 9d48d236c1 completed losses 2025-04-18 15:02:13 +02:00
Michel Aractingi b57d6a7776 nit in control_robot.py 2025-04-18 15:02:13 +02:00
Michel Aractingi d1f76cba8e Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-04-18 15:02:13 +02:00
Eugene Mironov d78cef1fee Fixup 2025-04-18 15:02:13 +02:00
Michel Aractingi 30a808c0ae Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-04-18 15:02:13 +02:00
Yoel 4a7f85a6ec Reward classifier and training (#528) 
Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai>
Co-authored-by: resolver101757 <kelster101757@hotmail.com>
Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
 2025-04-18 15:02:13 +02:00
k1000dai b43ece8934
Add pythno3-dev in Dockerfile to build and modify Readme.md , python-dev to python3-dev (#987) 
Co-authored-by: makolon <smakolon385@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-17 16:17:07 +02:00
Alex Thiele c10c5a0e64
Fix --width --height type parsing on opencv and intelrealsense scripts (#556) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-17 15:19:23 +02:00
Junshan Huang a8db91c40e
Fix Windows HTML visualization to make videos could be seen (#647) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-17 15:07:28 +02:00
HUANG TZU-CHUN 0f5f7ac780
Fix broken links in `examples/4_train_policy_with_script.md` (#697) 2025-04-17 14:59:43 +02:00
pre-commit-ci[bot] 768e36660d
[pre-commit.ci] pre-commit autoupdate (#980) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-04-14 21:55:06 +02:00
Caroline Pascal 790d6740ba
fix(installation): adding note on `ffmpeg` version during installation (#976) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-04-14 15:36:31 +02:00
Steven Palma 5322417c03
fix(examples): removes extra backtick (#948) 2025-04-09 17:44:32 +02:00
Steven Palma 4041f57943
feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903) 2025-04-09 17:33:01 +02:00
Simon Alibert 2c86fea78a
Switch typos pre-commit to mirror (#953) 2025-04-08 12:44:09 +02:00
pre-commit-ci[bot] 437fc29e12
[pre-commit.ci] pre-commit autoupdate (#871) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-04-08 06:58:46 +02:00
Junwu Zhang aee86b4b18
typo fix: example_1 python script (#631) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-07 17:41:10 +02:00
mshukor 1c873df5c0
Support for PI0+FAST (#921) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-04-04 11:51:11 +02:00
Steven Palma 145fe4cd17
fix(deps): avoid torchcodec in macos x86_64 (#925) 2025-04-01 15:51:59 +02:00
Mariusz Dubielecki e004247ed4
docs: add tip for Mac users regarding Terminal permissions for keyboard (#917) 
Signed-off-by: cranberrysoft <dubielecki.mariusz@gmail.com>
 2025-03-31 09:44:05 +02:00
Steven Palma b568de35ad
fix(datasets): cast imgs_dir as Path (#915) 2025-03-28 18:08:12 +01:00
Yongjin Cho ae9c81ac39
fix(docs): correct spelling of 'ffmpeg' in installation instructions (#914) 2025-03-28 17:43:33 +01:00
Steven Palma 78fd1a1e04
chore(docs): update docs (#911) 2025-03-27 09:55:06 +01:00
Steven Palma 90533e6b9f
fix(docs): hot-fix updating installation instructions after #883 (#907) 2025-03-26 13:21:40 +01:00
AlexC 2c22f7d76d
Add offline mode in the configuration for wandb logging (#897) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-25 13:44:49 +01:00
Qizhi Chen a774af2eab
fix pi0 action padding name (#893) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-25 11:24:46 +01:00
Steven Palma 725b446ad6
fix(deps): constrain PyAV version to resolve OpenCV-python ffmpeg version conflict (#883) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-24 23:40:22 +01:00
Steven Palma a6015a55f9
chore(scripts): remove deprecated script (#887) 2025-03-23 01:16:50 +01:00
Cole f39652707c
add docs details for resolving firmware update issues (#627) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-19 19:17:07 +01:00
Steven Palma 712d5dae4f
fix(os): fix default codec for windows (#875) 2025-03-18 22:04:21 +01:00
Pepijn 952e892fe5
Use float32 instead of int (#877) 2025-03-18 16:36:37 +01:00
Pepijn e8159997c7
User/pepijn/2025 03 17 act different image shapes (#870) 2025-03-18 11:09:05 +01:00