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764 Commits

Author SHA1 Message Date
Adil Zouitine be965019bd Add rlpd tricks 2025-02-03 15:06:18 +00:00
Adil Zouitine a0a50de8c9 SAC works 2025-02-03 15:06:18 +00:00
Adil Zouitine c86dace4c2 remove breakpoint 2025-02-03 15:06:18 +00:00
Adil Zouitine 472a7f58ad [WIP] correct sac implementation 2025-02-03 15:06:14 +00:00
Pradeep Kadubandi 068efce3f8 Fix for the issue https://github.com/huggingface/lerobot/issues/638 (#639) 2025-02-03 15:04:03 +00:00
Philip Fung df7310ea40 fixes to SO-100 readme (#600) 
Co-authored-by: Philip Fung <no@one>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-02-03 15:04:03 +00:00
Mishig 100f54ee07 [viz] Fixes & updates to html visualizer (#617) 2025-02-03 15:04:03 +00:00
CharlesCNorton c2f7af3339 typo fix: batch_convert_dataset_v1_to_v2.py (#615) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-02-03 15:04:03 +00:00
Ville Kuosmanen a1b5d0faf2 fix(visualise): use correct language description for each episode id (#604) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-02-03 15:04:03 +00:00
CharlesCNorton d6498150bf fix(docs): typos in benchmark readme.md (#614) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-02-03 15:04:03 +00:00
Simon Alibert 31c34a4a49 Fix Quality workflow (#622) 2025-02-03 15:04:03 +00:00
CharlesCNorton b1cfb6a710 Update README.md (#612) 2025-02-03 15:04:02 +00:00
Eugene Mironov 4a43c83522 Fix broken `create_lerobot_dataset_card` (#590) 2025-02-03 15:04:02 +00:00
Mishig 0a4e9e25d0 [vizualizer] for LeRobodDataset V2 (#576) 2025-02-03 15:04:02 +00:00
Michel Aractingi 3bb5ed5e91
Extend reward classifier for multiple camera views (#626) 2025-01-13 13:57:49 +01:00
Eugene Mironov c5bca1cf0f
[Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-01-06 11:34:00 +01:00
Michel Aractingi 35de91ef2b added temporary fix for missing task_index key in online environment 2024-12-30 13:47:28 +00:00
Michel Aractingi ee306e2f9b split encoder for critic and actor 2024-12-29 23:59:39 +00:00
Michel Aractingi bae3b02928 style fixes 2024-12-29 14:35:21 +00:00
KeWang1017 5b4adc00bb 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.
 2024-12-29 14:27:19 +00:00
KeWang1017 22fbc9ea4a 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.
 2024-12-29 14:21:49 +00:00
KeWang1017 ca74a13d61 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.
 2024-12-29 14:17:25 +00:00
KeWang1017 18a4598986 trying to get sac running 2024-12-29 14:14:13 +00:00
Michel Aractingi dc54d357ca Added normalization schemes and style checks 2024-12-29 12:51:21 +00:00
Michel Aractingi 08ec971086 added optimizer and sac to factory.py 2024-12-23 14:12:03 +01:00
Eugene Mironov b53d6e0ff2
[HIL-SERL PORT] Fix linter issues (#588) 2024-12-23 10:44:29 +01:00
Eugene Mironov 70b652f791
[Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2024-12-23 10:43:55 +01:00
Michel Aractingi 7b68bfb73b added comments from kewang 2024-12-17 18:03:46 +01:00
KeWang1017 7e0f20fbf2 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.
 2024-12-17 17:58:11 +01:00
KeWang def42ff487 Port SAC WIP (#581) 
Co-authored-by: KeWang1017 <ke.wang@helloleap.ai>
 2024-12-17 16:16:59 +01:00
Michel Aractingi c9af8e36a7 completed losses 2024-12-17 16:16:36 +01:00
Michel Aractingi ed66c92383 nit in control_robot.py 2024-12-17 11:04:56 +07:00
Michel Aractingi 668d493bf9 Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:44:31 +07:00
Claudio Coppola 67f4d7ea7a LerobotDataset pushable to HF from any folder (#563) 2024-12-17 02:44:23 +07:00
berjaoui 4b0c88ff8e Update 7_get_started_with_real_robot.md (#559) 2024-12-17 02:44:11 +07:00
Michel Aractingi b19fef9d18 Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-12-17 02:44:03 +07:00
Remi 1612e00e63 Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-17 02:43:10 +07:00
Michel Aractingi c3bc136420 Refactor OpenX (#505) 2024-12-17 02:42:59 +07:00
Eugene Mironov 1020bc3108 Fixup 2024-12-17 02:42:53 +07:00
Michel Aractingi 7fcf638c0d Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2024-12-17 02:41:31 +07:00
Yoel e35546f58e 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>
 2024-12-17 02:41:29 +07:00
Michel Aractingi 1aa8d4ac91 nit 2024-12-17 02:39:15 +07:00
s1lent4gnt 66f8736598
fixing typo from 'teloperation' to 'teleoperation' (#566) 2024-12-11 05:57:52 -08:00
Simon Alibert 4c41f6fcc6
Fix example 6 (#572) 2024-12-11 10:32:18 +01:00
Claudio Coppola 44f9b21e74
LerobotDataset pushable to HF from any folder (#563) 2024-12-09 11:32:25 +01:00
berjaoui 03f49ceaf0
Update 7_get_started_with_real_robot.md (#559) 2024-12-09 00:17:49 +01:00
Michel Aractingi 8e7d6970ea
Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-12-03 12:20:05 +01:00
Remi 286bca37cc
Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2024-12-03 10:53:21 +01:00
Michel Aractingi a2c181992a
Refactor OpenX (#505) 2024-12-03 00:51:55 +01:00
Simon Alibert 32eb0cec8f
Dataset v2.0 (#461) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2024-11-29 19:04:00 +01:00