Clear action queue when environment is reset

lerobot/common/policies/abstract.py

@@ -20,8 +20,7 @@ class AbstractPolicy(nn.Module, ABC):
         """
         super().__init__()
         self.n_action_steps = n_action_steps
-        if n_action_steps is not None:
-            self._action_queue = deque([], maxlen=n_action_steps)
+        self.clear_action_queue()
 
     @abstractmethod
     def update(self, replay_buffer, step):
@@ -42,6 +41,11 @@ class AbstractPolicy(nn.Module, ABC):
         actions. Otherwise if n_actions_steps is None, this should return a (batch_size, *) tensor of actions.
         """
 
+    def clear_action_queue(self):
+        """This should be called whenever the environment is reset."""
+        if self.n_action_steps is not None:
+            self._action_queue = deque([], maxlen=self.n_action_steps)
+
     def forward(self, *args, **kwargs) -> Tensor:
         """Inference step that makes multi-step policies compatible with their single-step environments.