Add sim tutorial, fix lekiwi motor config, add notebook links #1275
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- Changed the device assignment for tensors in the ReplayBuffer class from `device` to `storage_device` for consistency and improved resource management.
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…e calls - Introduced a new "task" field in frame_dict to meet the requirements of LeRobotDataset. - Removed task_name parameter from save_episode calls for consistency.
- gym_manipulator - find_joint_limits - end_effector_utils
Add ManiSkill environment configuration and wrappers - Introduced `VideoRecordConfig` for video recording settings. - Added `ManiskillEnvConfig` to encapsulate environment-specific configurations. - Implemented various wrappers for the ManiSkill environment, including observation and action scaling. - Enhanced the `make_maniskill` function to create a wrapped ManiSkill environment with video recording and observation processing. - Updated the `actor_server` and `learner_server` to utilize the new configuration structure. - Refactored the training pipeline to accommodate the new environment and policy configurations.
- Reduced frame rate in `ManiskillEnvConfig` from 400 to 200. - Enhanced `SACConfig` with new dataclasses for actor, learner, and network configurations. - Improved input and output feature management in `SACConfig`. - Refactored `actor_server` and `learner_server` to access configuration properties directly. - Updated training pipeline to validate configurations and handle dataset repo IDs more robustly.
Added support for hil_serl classifier to be trained with train.py run classifier training by python lerobot/scripts/train.py --policy.type=hilserl_classifier fixes in find_joint_limits, control_robot, end_effector_control_utils
…rties - Introduced `WrapperConfig` dataclass for environment wrapper configurations. - Updated `ManiskillEnvConfig` to include a `wrapper` field for enhanced environment management. - Modified `SACConfig` to return `None` for `observation_delta_indices` and `action_delta_indices` properties. - Refactored `make_robot_env` function to improve readability and maintainability.
Moved HilSerl env config to configs/env/configs.py fixes in actor_server and modeling_sac and configuration_sac added the possibility of ignoring missing keys in env_cfg in get_features_from_env_config function
- Implemented process-specific logging for actor and learner servers to improve traceability. - Created a dedicated logs directory and ensured it exists before logging. - Initialized logging with explicit log files for each process, including actor transitions, interactions, and policy. - Updated the actor CLI to validate configuration and set up logging accordingly.
- Simplified the `image_features` property to directly iterate over `input_features`. - Removed unused imports and unnecessary code related to main execution, enhancing clarity and maintainability.
- Rearranged import statements for better readability. - Removed unused imports and streamlined the code structure.
- Removed unused imports and streamlined the code structure. - Consolidated logging initialization and enhanced logging for training processes. - Improved handling of training state loading and resume logic. - Refactored transition and interaction message processing for better readability and maintainability. - Added detailed comments and documentation for clarity.
- Consolidated logging initialization and enhanced logging for actor processes. - Streamlined the handling of gRPC connections and process management. - Improved readability by organizing core algorithm functions and communication functions. - Added detailed comments and documentation for clarity. - Ensured proper queue management and shutdown handling for actor processes.
…onality - Updated the `forward` method in `SACPolicy` to handle loss computation for actor, critic, and temperature models. - Replaced direct calls to `compute_loss_*` methods with a unified `forward` method in `learner_server`. - Enhanced batch processing by consolidating input parameters into a single dictionary for better readability and maintainability. - Removed redundant code and improved documentation for clarity.
- Enhanced type annotations for variables in the `SACPolicy` class to improve code clarity. - Updated method calls to use keyword arguments for better readability. - Streamlined the extraction of batch components, ensuring consistent typing across the class methods.
…f gamepad Minor modifications in gym_manipulator to quantize the gripper actions clamped the observations after F.resize in ConvertToLeRobotObservation wrapper due to a bug in F.resize, images were returned exceeding the maximum value of 1.0
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- Implemented grasp critic to evaluate gripper actions - Added corresponding config parameters for tuning
…e/lerobot into feat/add_sim_tutorial
michel-aractingi
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Jun 13, 2025
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michel-aractingi
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michel-aractingi
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lgtm, good work
This was referenced Jun 30, 2025
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What this does
: strtype the LeKiwiConfig port) + docs on how to configure lekiwi motors