more

eval.sh

@@ -1,6 +1,7 @@
 lerobot-eval \
-  --policy.path="HuggingFaceVLA/smolvla_libero" \
+  --policy.path="/home/jade_choghari/.cache/models/pi05" \
   --env.type=libero \
   --env.task=libero_spatial \
   --eval.batch_size=1 \
-  --eval.n_episodes=1
+  --eval.n_episodes=1 \
+  --policy.n_action_steps=10 \

src/lerobot/envs/libero.py

@@ -219,6 +219,7 @@ class LiberoEnv(gym.Env):
     def render(self):
         raw_obs = self._env.env._get_observations()
         image = self._format_raw_obs(raw_obs)["pixels"]["image"]
+        image = image[::-1, ::-1] # flip both H and W for visualization
         return image
 
     def _make_envs_task(self, task_suite: Any, task_id: int = 0):
@@ -407,7 +408,6 @@ def create_libero_envs(
         suite = _get_suite(suite_name)
         total = len(suite.tasks)
         selected = _select_task_ids(total, task_ids_filter)
-        selected = [0]
         if not selected:
             raise ValueError(f"No tasks selected for suite '{suite_name}' (available: {total}).")
 

src/lerobot/scripts/lerobot_eval.py

@@ -764,4 +764,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()