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792 Commits

Author SHA1 Message Date
Eugene Mironov f2e0426af0 [Port HIL_SERL] Final fixes for the Reward Classifier (#598) 2025-03-24 13:40:47 +01:00
Michel Aractingi 324404b47a added temporary fix for missing task_index key in online environment 2025-03-24 13:24:38 +01:00
Michel Aractingi ebff8f7437 split encoder for critic and actor 2025-03-24 13:24:23 +01:00
Michel Aractingi 5070295e59 style fixes 2025-03-24 13:24:23 +01:00
KeWang1017 012ef3217e 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.
 2025-03-24 13:24:23 +01:00
KeWang1017 6380f82bbc 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.
 2025-03-24 13:24:23 +01:00
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