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fix(rollout): guard empty buffer save

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This commit is contained in:
Khalil Meftah
2026-07-02 18:02:59 +02:00
parent 599e2432e5
commit b29ba27977
1 changed files with 14 additions and 10 deletions
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src/lerobot/rollout/strategies/dagger.py
+14 -10
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@@ -556,11 +556,13 @@ class DAggerStrategy(RolloutStrategy):
logger.info("DAgger continuous control loop ended — pausing engine")
engine.pause()
with contextlib.suppress(Exception):
with self._episode_lock:
self._stamp_episode_success(dataset)
dataset.save_episode()
self._needs_push.set()
logger.info("Final in-progress episode saved")
buf = dataset.writer.episode_buffer
if buf and any(len(v) > 0 for v in buf.values() if isinstance(v, list)):
with self._episode_lock:
self._stamp_episode_success(dataset)
dataset.save_episode()
self._needs_push.set()
logger.info("Final in-progress episode saved")
# ------------------------------------------------------------------
# Corrections-only mode (record_autonomous=False)
@@ -708,11 +710,13 @@ class DAggerStrategy(RolloutStrategy):
logger.info("DAgger corrections-only loop ended — pausing engine")
engine.pause()
with contextlib.suppress(Exception):
with self._episode_lock:
self._stamp_episode_success(dataset)
dataset.save_episode()
self._needs_push.set()
logger.info("Final in-progress episode saved")
buf = dataset.writer.episode_buffer
if buf and any(len(v) > 0 for v in buf.values() if isinstance(v, list)):
with self._episode_lock:
self._stamp_episode_success(dataset)
dataset.save_episode()
self._needs_push.set()
logger.info("Final in-progress episode saved")
# ------------------------------------------------------------------
# State-machine transition side-effects