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fix(rollout): avoid oversampling observations during interpolation

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Pepijn
2026-04-24 15:42:36 +02:00
parent cf2e42f557
commit ee737b72d0
1 changed files with 12 additions and 3 deletions
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src/lerobot/rollout/strategies/base.py
+12 -3
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@@ -47,8 +47,12 @@ class BaseStrategy(RolloutStrategy):
interpolator = self._interpolator
control_interval = interpolator.get_control_interval(cfg.fps)
observation_interval = 1.0 / cfg.fps
start_time = time.perf_counter()
next_observation_time = 0.0
obs = None
obs_processed = None
engine.resume()
logger.info("Base strategy control loop started")
@@ -59,13 +63,18 @@ class BaseStrategy(RolloutStrategy):
logger.info("Duration limit reached (%.0fs)", cfg.duration)
break
obs = robot.get_observation()
obs_processed = ctx.processors.robot_observation_processor(obs)
engine.notify_observation(obs_processed)
if obs is None or loop_start >= next_observation_time:
obs = robot.get_observation()
obs_processed = ctx.processors.robot_observation_processor(obs)
engine.notify_observation(obs_processed)
next_observation_time = loop_start + observation_interval
if self._handle_warmup(cfg.use_torch_compile, loop_start, control_interval):
continue
if obs_processed is None:
continue
action_dict = send_next_action(obs_processed, obs, ctx, interpolator)
self._log_telemetry(obs_processed, action_dict, ctx.runtime)