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This commit is contained in:
Jade Choghari
2025-11-21 10:45:41 +01:00
parent 0ccc60f20b
commit a3a5cb1bac
1 changed files with 3 additions and 0 deletions
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src/lerobot/scripts/lerobot_eval.py
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@@ -167,12 +167,15 @@ def rollout(
# Infer "task" from attributes of environments. # Infer "task" from attributes of environments.
# TODO: works with SyncVectorEnv but not AsyncVectorEnv # TODO: works with SyncVectorEnv but not AsyncVectorEnv
observation = add_envs_task(env, observation) observation = add_envs_task(env, observation)
# Apply environment-specific preprocessing (e.g., LiberoProcessorStep for LIBERO) # Apply environment-specific preprocessing (e.g., LiberoProcessorStep for LIBERO)
observation = env_preprocessor(observation) observation = env_preprocessor(observation)
observation = preprocessor(observation) observation = preprocessor(observation)
with torch.inference_mode(): with torch.inference_mode():
action = policy.select_action(observation) action = policy.select_action(observation)
action = postprocessor(action) action = postprocessor(action)
action_transition = {"action": action} action_transition = {"action": action}
action_transition = env_postprocessor(action_transition) action_transition = env_postprocessor(action_transition)
action = action_transition["action"] action = action_transition["action"]