Refactor eval.py (#127)

lerobot/configs/policy/act.yaml

@@ -28,7 +28,8 @@ training:
     action: "[i / ${fps} for i in range(${policy.chunk_size})]"
 
 eval:
-  n_episodes:: 50
+  n_episodes: 50
+  batch_size: 50
 
 # See `configuration_act.py` for more details.
 policy:

lerobot/configs/policy/diffusion.yaml

@@ -28,6 +28,7 @@ training:
 
 eval:
   n_episodes: 50
+  batch_size: 50
 
 override_dataset_stats:
   # TODO(rcadene, alexander-soare): should we remove image stats as well? do we use a pretrained vision model?

lerobot/configs/policy/tdmpc.yaml

@@ -8,6 +8,7 @@ training:
   eval_freq: 5000
   online_steps_between_rollouts: 1
   online_sampling_ratio: 0.5
+  online_env_seed: 10000
 
   batch_size: 256
   grad_clip_norm: 10.0