Refactor env queue, Training diffusion works (Still not converging)

2024-03-04 10:59:43 +00:00
parent fddd9f0311
commit cfc304e870
11 changed files with 96 additions and 111 deletions
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -137,7 +137,7 @@ def eval(cfg: dict, out_dir=None):
        save_video=True,
        video_dir=Path(out_dir) / "eval",
        fps=cfg.env.fps,
-        max_steps=cfg.env.episode_length,
+        max_steps=cfg.env.episode_length // cfg.n_action_steps,
        num_episodes=cfg.eval_episodes,
    )
    print(metrics)