diff --git a/lerobot/common/policies/abstract.py b/lerobot/common/policies/abstract.py index 272ffcf4..1c300dbe 100644 --- a/lerobot/common/policies/abstract.py +++ b/lerobot/common/policies/abstract.py @@ -65,6 +65,7 @@ class AbstractPolicy(nn.Module, ABC): if self.n_action_steps is None: return self.select_actions(*args, **kwargs) if len(self._action_queue) == 0: - # Each element in the queue has shape (B, *). + # `select_actions` returns a (batch_size, n_action_steps, *) tensor, but the queue effectively has shape + # (n_action_steps, batch_size, *), hence the transpose. self._action_queue.extend(self.select_actions(*args, **kwargs).transpose(0, 1)) return self._action_queue.popleft() diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py index e98df19c..41d58b91 100644 --- a/lerobot/scripts/eval.py +++ b/lerobot/scripts/eval.py @@ -3,6 +3,7 @@ import threading import time from pathlib import Path +import einops import hydra import imageio import numpy as np @@ -69,9 +70,9 @@ def eval_policy( rollout_steps = rollout["next", "done"].shape[1] done_indices = torch.argmax(rollout["next", "done"].to(int), axis=1) # (batch_size, rollout_steps) mask = (torch.arange(rollout_steps) <= done_indices).unsqueeze(-1) # (batch_size, rollout_steps, 1) - batch_sum_reward = (rollout["next", "reward"] * mask).flatten(start_dim=1).sum(dim=-1) - batch_max_reward = (rollout["next", "reward"] * mask).flatten(start_dim=1).max(dim=-1)[0] - batch_success = (rollout["next", "success"] * mask).flatten(start_dim=1).any(dim=-1) + batch_sum_reward = einops.reduce((rollout["next", "reward"] * mask), "b n 1 -> b", "sum") + batch_max_reward = einops.reduce((rollout["next", "reward"] * mask), "b n 1 -> b", "max") + batch_success = einops.reduce((rollout["next", "success"] * mask), "b n 1 -> b", "any") sum_rewards.extend(batch_sum_reward.tolist()) max_rewards.extend(batch_max_reward.tolist()) successes.extend(batch_success.tolist()) diff --git a/poetry.lock b/poetry.lock index 5e84ebef..ddb0a0e3 100644 --- a/poetry.lock +++ b/poetry.lock @@ -604,16 +604,6 @@ files = [ [package.dependencies] six = ">=1.4.0" -[[package]] -name = "egl-probe" -version = "1.0.2" -description = "" -optional = false -python-versions = "*" -files = [ - {file = "egl_probe-1.0.2.tar.gz", hash = "sha256:29bdca7b08da1e060cfb42cd46af8300a7ac4f3b1b2eeb16e545ea16d9a5ac93"}, -] - 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