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lerobot
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Merge branch 'main' into user/alexander-soare/multistep_policy_and_serial_env

This commit is contained in:
Alexander Soare 2024-03-18 18:27:50 +00:00
parent bae7e7b41c 099a465367
commit 09ddd9bf92
2 changed files with 2 additions and 0 deletions
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1
lerobot/scripts/eval.py
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@ -33,6 +33,7 @@ def eval_policy(
fps: int = 15, fps: int = 15,
return_first_video: bool = False, return_first_video: bool = False,
): ):
policy.eval()
start = time.time() start = time.time()
sum_rewards = [] sum_rewards = []
max_rewards = [] max_rewards = []

1
lerobot/scripts/train.py
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@ -190,6 +190,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
if offline_step == 0: if offline_step == 0:
logging.info("Start offline training on a fixed dataset") logging.info("Start offline training on a fixed dataset")
# TODO(rcadene): is it ok if step_t=0 = 0 and not 1 as previously done? # TODO(rcadene): is it ok if step_t=0 = 0 and not 1 as previously done?
policy.train()
train_info = policy.update(offline_buffer, step) train_info = policy.update(offline_buffer, step)
if step % cfg.log_freq == 0: if step % cfg.log_freq == 0:
log_train_info(logger, train_info, step, cfg, offline_buffer, is_offline) log_train_info(logger, train_info, step, cfg, offline_buffer, is_offline)