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Change LIBERO init_state_id when reset. (#2899)

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* Change LIBERO init_state_id when reset.

Signed-off-by: Aoqun Jin <aojiaojiao@foxmail.com>

* Change LIBERO init_state_id when reset.

Signed-off-by: Aoqun Jin <aojiaojiao@foxmail.com>

* pre-commit run

---------

Signed-off-by: Aoqun Jin <aojiaojiao@foxmail.com>
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Aoqun Jin
2026-02-10 21:39:17 +08:00
committed by GitHub
parent cca0296cd6
commit 5eba4ce6f4
1 changed files with 7 additions and 2 deletions
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src/lerobot/envs/libero.py
+7 -2
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@@ -112,6 +112,7 @@ class LiberoEnv(gym.Env):
visualization_height: int = 480,
init_states: bool = True,
episode_index: int = 0,
n_envs: int = 1,
camera_name_mapping: dict[str, str] | None = None,
num_steps_wait: int = 10,
control_mode: str = "relative",
@@ -145,7 +146,9 @@ class LiberoEnv(gym.Env):
self.episode_length = episode_length
# Load once and keep
self._init_states = get_task_init_states(task_suite, self.task_id) if self.init_states else None
self._init_state_id = self.episode_index # tie each sub-env to a fixed init state
self._reset_stride = n_envs # when performing a reset, append `_reset_stride` to `init_state_id`.
self.init_state_id = self.episode_index # tie each sub-env to a fixed init state
self._env = self._make_envs_task(task_suite, self.task_id)
default_steps = 500
@@ -295,7 +298,8 @@ class LiberoEnv(gym.Env):
self._env.seed(seed)
raw_obs = self._env.reset()
if self.init_states and self._init_states is not None:
raw_obs = self._env.set_init_state(self._init_states[self._init_state_id])
raw_obs = self._env.set_init_state(self._init_states[self.init_state_id % len(self._init_states)])
self.init_state_id += self._reset_stride # Change init_state_id when reset
# After reset, objects may be unstable (slightly floating, intersecting, etc.).
# Step the simulator with a no-op action for a few frames so everything settles.
@@ -373,6 +377,7 @@ def _make_env_fns(
init_states=init_states,
episode_length=episode_length,
episode_index=episode_index,
n_envs=n_envs,
control_mode=control_mode,
**local_kwargs,
)