[Port HIL-SERL] Fixes for SAC, tested with real robot #619
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…e implementation, added debug logging info
- Introduced target critic networks in SACPolicy to enhance stability during training. - Updated TD target calculation to incorporate entropy adjustments, improving robustness. - Increased online buffer capacity in configuration from 10,000 to 40,000 for better data handling. - Adjusted learning rates for critic, actor, and temperature to 3e-4 for optimized training performance. These changes aim to refine the SAC implementation, enhancing its robustness and performance during training and inference.
…robot into hil_serl_check_sac
helper2424
changed the base branch from
user/michel-aractingi/2024-11-27-port-hil-serl-backup
to
user/michel-aractingi/2024-11-27-port-hil-serl
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WIP
It are fixes based on #616
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