fix end-to-end aloha

lerobot/scripts/eval.py

@@ -249,7 +249,7 @@ def eval_policy(
             threads.append(thread)
             episode_counter += 1
 
-        videos = batch_stacked_frames.transpose(0, 3, 1, 2)
+        videos = einops.rearrange(batch_stacked_frames, "b t h w c -> b t c h w")
 
     for thread in threads:
         thread.join()
@@ -328,6 +328,9 @@ def eval(cfg: dict, out_dir=None, stats_path=None):
 
     # Save info
     with open(Path(out_dir) / "eval_info.json", "w") as f:
+        # remove pytorch tensors which are not serializable to save the evaluation results only
+        del info["episodes"]
+        del info["videos"]
         json.dump(info, f, indent=2)
 
     logging.info("End of eval")