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Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act

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Alexander Soare
2024-04-09 08:36:28 +01:00
parent 50e4c8050c 19e7661b8d
commit e6c6c2367f
13 changed files with 109 additions and 247 deletions
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lerobot/scripts/eval.py
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@@ -86,14 +86,10 @@ def eval_policy(
def maybe_render_frame(env):
if save_video: # noqa: B023
if return_first_video:
# TODO(now): Put mode back in.
visu = env.envs[0].render()
# visu = env.envs[0].render(mode="visualization")
visu = visu[None, ...] # add batch dim
else:
# TODO(now): Put mode back in.
visu = np.stack([env.render() for env in env.envs])
# visu = np.stack([env.render(mode="visualization") for env in env.envs])
ep_frames.append(visu) # noqa: B023
for _ in range(num_episodes):