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fix(eval): render_frame covers _LazyAsyncVectorEnv

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isinstance(env, AsyncVectorEnv) silently skipped _LazyAsyncVectorEnv,
causing video rendering to produce no frames on the default async path.
Switch to hasattr(env, "call") so any async-compatible env (including
_LazyAsyncVectorEnv) hits the call("render") branch.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-08 12:45:57 +02:00
parent 58a5bcb90c
commit f3853c9dc8
1 changed files with 2 additions and 1 deletions
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src/lerobot/scripts/lerobot_eval.py
+2 -1
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@@ -323,8 +323,9 @@ def eval_policy(
n_to_render_now = min(max_episodes_rendered - n_episodes_rendered, env.num_envs) n_to_render_now = min(max_episodes_rendered - n_episodes_rendered, env.num_envs)
if isinstance(env, gym.vector.SyncVectorEnv): if isinstance(env, gym.vector.SyncVectorEnv):
ep_frames.append(np.stack([env.envs[i].render() for i in range(n_to_render_now)])) # noqa: B023 ep_frames.append(np.stack([env.envs[i].render() for i in range(n_to_render_now)])) # noqa: B023
elif isinstance(env, gym.vector.AsyncVectorEnv): elif hasattr(env, "call"):
# Here we must render all frames and discard any we don't need. # Here we must render all frames and discard any we don't need.
# Covers AsyncVectorEnv and _LazyAsyncVectorEnv (which wraps one).
ep_frames.append(np.stack(env.call("render")[:n_to_render_now])) ep_frames.append(np.stack(env.call("render")[:n_to_render_now]))
if max_episodes_rendered > 0: if max_episodes_rendered > 0: