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lerobot
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testing syncenv

This commit is contained in:
mshukor 2025-04-02 19:40:04 +02:00
parent df2a312174
commit 6b2c91255a
3 changed files with 4 additions and 4 deletions
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2
lerobot/common/envs/utils.py
View File

@ -17,7 +17,7 @@ import warnings
from typing import Any
import einops
import gym
import gymnasium as gym
import numpy as np
import torch
from torch import Tensor

4
lerobot/scripts/eval.py
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@ -66,7 +66,7 @@ from torch import Tensor, nn
from tqdm import trange
from lerobot.common.envs.factory import make_env
from lerobot.common.envs.utils import check_env_attributes_and_types, preprocess_observation
from lerobot.common.envs.utils import check_env_attributes_and_types, preprocess_observation, add_envs_task
from lerobot.common.policies.factory import make_policy
from lerobot.common.policies.pretrained import PreTrainedPolicy
from lerobot.common.policies.utils import get_device_from_parameters
@ -157,7 +157,7 @@ def rollout(
}
# Infer "task" from attributes of environments. Works with AsyncVectorEnv.
observation = addd_envs_task(env, observation)
observation = add_envs_task(env, observation)
with torch.inference_mode():
action = policy.select_action(observation)

2
lerobot/scripts/train.py
View File

@ -133,7 +133,7 @@ def train(cfg: TrainPipelineConfig):
eval_env = None
if cfg.eval_freq > 0 and cfg.env is not None:
logging.info("Creating env")
eval_env = make_env(cfg.env, n_envs=cfg.eval.batch_size)
eval_env = make_env(cfg.env, n_envs=cfg.eval.batch_size, use_async_envs=cfg.eval.use_async_envs)
logging.info("Creating policy")
policy = make_policy(