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break_when_any_done==True for batch_size==1

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Alexander Soare
2024-03-19 19:08:25 +00:00
parent 46ac87d2a6
commit b54cdc9a0f
2 changed files with 3 additions and 3 deletions
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lerobot/scripts/eval.py
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@@ -51,14 +51,14 @@ def eval_policy(
ep_frames.append(env.render()) # noqa: B023
with torch.inference_mode():
# TODO(alexander-soare): Due the `break_when_any_done == False` this rolls out for max_steps even when all
# TODO(alexander-soare): When `break_when_any_done == False` this rolls out for max_steps even when all
# envs are done the first time. But we only use the first rollout. This is a waste of compute.
rollout = env.rollout(
max_steps=max_steps,
policy=policy,
auto_cast_to_device=True,
callback=maybe_render_frame,
break_when_any_done=False,
break_when_any_done=env.batch_size[0] == 1,
)
# Figure out where in each rollout sequence the first done condition was encountered (results after this won't
# be included).