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786 Commits

Author SHA1 Message Date
KeWang1017 ecb91b37eb 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.
 2025-03-24 13:24:23 +01:00
KeWang1017 c89bcc5aa8 trying to get sac running 2025-03-24 13:24:23 +01:00
Michel Aractingi cc85bca2b5 Added normalization schemes and style checks 2025-03-24 13:24:23 +01:00
Michel Aractingi 3b07766c33 added optimizer and sac to factory.py 2025-03-24 13:23:53 +01:00
Eugene Mironov 287968b418 [HIL-SERL PORT] Fix linter issues (#588) 2025-03-24 13:23:02 +01:00
Eugene Mironov c9f1a037e3 [Port Hil-SERL] Add unit tests for the reward classifier & fix imports & check script (#578) 2025-03-24 13:23:02 +01:00
Michel Aractingi 8a7f74ee65 added comments from kewang 2025-03-24 13:21:05 +01:00
KeWang1017 8220546036 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.
 2025-03-24 13:21:05 +01:00
KeWang 214beec994 Port SAC WIP (#581) 
Co-authored-by: KeWang1017 <ke.wang@helloleap.ai>
 2025-03-24 13:21:05 +01:00
Michel Aractingi 909ca8d9b6 completed losses 2025-03-24 13:21:05 +01:00
Michel Aractingi 5fe56e0a49 nit in control_robot.py 2025-03-24 13:21:05 +01:00
Michel Aractingi a60d3facee Update lerobot/scripts/train_hilserl_classifier.py 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-03-24 13:21:04 +01:00
Claudio Coppola 298a31bc45 LerobotDataset pushable to HF from any folder (#563) 2025-03-24 13:21:04 +01:00
berjaoui 05b8f8b4fd Update 7_get_started_with_real_robot.md (#559) 2025-03-24 13:21:04 +01:00
Michel Aractingi 0f05dc5faf Control simulated robot with real leader (#514) 
Co-authored-by: Remi <remi.cadene@huggingface.co>
 2025-03-24 13:21:04 +01:00
Remi 36d89156b1 Fix missing local_files_only in record/replay (#540) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
 2025-03-24 13:21:04 +01:00
Michel Aractingi 1dd5e3cd3f Refactor OpenX (#505) 2025-03-24 13:21:04 +01:00
Eugene Mironov 4f8633dd26 Fixup 2025-03-24 13:21:04 +01:00
Michel Aractingi d733e5681f Add human intervention mechanism and eval_robot script to evaluate policy on the robot (#541) 
Co-authored-by: Yoel <yoel.chornton@gmail.com>
 2025-03-24 13:21:02 +01:00
Yoel 0ebdae8a40 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>
 2025-03-24 13:20:43 +01:00
Michel Aractingi d037f4a322 nit 2025-03-24 13:19:37 +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
Steven Palma 1c15bab70f
fix(codec): hot-fix for default codec in linux arm platforms (#868) 2025-03-17 13:23:11 +01:00
Guillaume LEGENDRE 9f0a8a49d0
Update test-docker-build.yml 2025-03-15 11:34:17 +01:00
Huan Liu a3cd18eda9
added wandb.run_id to allow resuming without wandb log; updated log m… (#841) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-15 09:40:39 +01:00
Huan Liu 7dc9ffe4c9
Update 10_use_so100.md (#840) 2025-03-14 17:07:14 +01:00
Jade Choghari 0e98c6ee96
Add torchcodec cpu (#798) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-14 16:53:42 +01:00
Simon Alibert 974028bd28
Organize test folders (#856) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-13 14:05:55 +01:00
Simon Alibert a36ed39487
Improve pre-commit config (#857) 2025-03-13 13:29:55 +01:00
Ermano Arruda c37b1d45b6
parametrise tolerance_s in visualize_dataset scripts (#716) 2025-03-13 10:28:29 +01:00
pre-commit-ci[bot] f994febca4
[pre-commit.ci] pre-commit autoupdate (#844) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-11 11:28:01 +01:00
Steven Palma 12f52632ed
chore(docs): update instructions for change in device and use_amp (#843) 2025-03-10 21:03:33 +01:00
Steven Palma 8a64d8268b
chore(deps): remove hydra dependency (#842) 2025-03-10 19:00:23 +01:00
Pepijn 84565c7c2e
Fix camera rotation error (#839) 
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
 2025-03-10 17:02:19 +01:00
Ben Sprenger 05b54733da
feat: add support for external plugin config dataclasses (#807) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-10 13:25:47 +01:00
Simon Alibert 513b008bcc
fix: deactivate tdmpc backward compatibility test with use_mpc=True (#838) 2025-03-10 10:19:54 +01:00
Joe Clinton 32fffd4bbb
Fix delay in teleoperation start time (#676) 
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>
 2025-03-08 11:40:07 +01:00
Simon Alibert 03c7cf8a63
Remove pr_style_bot (#832) 2025-03-08 09:39:07 +01:00
Simon Alibert 074f0ac8fe
Fix gpu nightly (#829) 2025-03-07 13:21:58 +01:00
Mathias Wulfman 25c63ccf63
🐛 Remove `map_location=device` that no longer exists when loading DiffusionPolicy from_pretained after commit 5e94738 (#830) 
Co-authored-by: Mathias Wulfman <mathias.wulfman@wandercraft.eu>
 2025-03-07 13:21:11 +01:00
Steven Palma 5e9473806c
refactor(config): Move device & amp args to PreTrainedConfig (#812) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2025-03-06 17:59:28 +01:00
Harsimrat Sandhawalia 10706ed753
Support for discrete actions (#810) 2025-03-06 10:27:29 +01:00
Steven Palma 0b8205a8a0
chore(doc): add star history graph to the README.md (#815) 2025-03-06 09:44:21 +01:00
Simon Alibert 57ae509823
Revert "docs: update installation instructions to use uv instead of conda" (#827) 2025-03-06 09:43:27 +01:00
Steven Palma 5d24ce3160
chore(doc): add license header to all files (#818) 2025-03-05 17:56:51 +01:00
eDeveloperOZ d694ea1d38
docs: update installation instructions to use uv instead of conda (#731) 
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
 2025-03-05 10:07:35 +01:00