Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

2025-05-23 13:13:37 +02:00
parent ddca6765b8 6163daaaa4
commit edec51988d
1 changed files with 5 additions and 0 deletions
--- a/lerobot/common/utils/control_utils.py
+++ b/lerobot/common/utils/control_utils.py
@@ -243,6 +243,11 @@ def control_loop(

    timestamp = 0
    start_episode_t = time.perf_counter()
+
+    # Controls starts, if policy is given it needs cleaning up
+    if policy is not None:
+        policy.reset()
+
    while timestamp < control_time_s:
        start_loop_t = time.perf_counter()