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jade.choghari@huggingface.co
2025-11-18 14:57:43 +01:00
parent e91e48b79c
commit 9979b62c52
3 changed files with 5 additions and 4 deletions
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eval.sh
+3 -2
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@@ -1,6 +1,7 @@
lerobot-eval \ lerobot-eval \
--policy.path="HuggingFaceVLA/smolvla_libero" \ --policy.path="/home/jade_choghari/.cache/models/pi05" \
--env.type=libero \ --env.type=libero \
--env.task=libero_spatial \ --env.task=libero_spatial \
--eval.batch_size=1 \ --eval.batch_size=1 \
--eval.n_episodes=1 --eval.n_episodes=1 \
--policy.n_action_steps=10 \
src/lerobot/envs/libero.py
+1 -1
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@@ -219,6 +219,7 @@ class LiberoEnv(gym.Env):
def render(self): def render(self):
raw_obs = self._env.env._get_observations() raw_obs = self._env.env._get_observations()
image = self._format_raw_obs(raw_obs)["pixels"]["image"] image = self._format_raw_obs(raw_obs)["pixels"]["image"]
image = image[::-1, ::-1] # flip both H and W for visualization
return image return image
def _make_envs_task(self, task_suite: Any, task_id: int = 0): 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) suite = _get_suite(suite_name)
total = len(suite.tasks) total = len(suite.tasks)
selected = _select_task_ids(total, task_ids_filter) selected = _select_task_ids(total, task_ids_filter)
selected = [0]
if not selected: if not selected:
raise ValueError(f"No tasks selected for suite '{suite_name}' (available: {total}).") raise ValueError(f"No tasks selected for suite '{suite_name}' (available: {total}).")
src/lerobot/scripts/lerobot_eval.py
+1 -1
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@@ -764,4 +764,4 @@ def main():
if __name__ == "__main__": if __name__ == "__main__":
main() main()