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lerobot
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pass step as kwarg

This commit is contained in:
Alexander Soare 2024-04-15 09:52:54 +01:00
parent 2ccf89d78c
commit 9241b5e830
2 changed files with 2 additions and 2 deletions
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2
lerobot/scripts/eval.py
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@ -130,7 +130,7 @@ def eval_policy(
# get the next action for the environment # get the next action for the environment
with torch.inference_mode(): with torch.inference_mode():
action = policy.select_action(observation, step) action = policy.select_action(observation, step=step)
# apply inverse transform to unnormalize the action # apply inverse transform to unnormalize the action
action = postprocess_action(action, transform) action = postprocess_action(action, transform)

2
lerobot/scripts/train.py
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@ -251,7 +251,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
for key in batch: for key in batch:
batch[key] = batch[key].to(cfg.device, non_blocking=True) batch[key] = batch[key].to(cfg.device, non_blocking=True)
train_info = policy(batch, step) train_info = policy(batch, step=step)
# 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?
if step % cfg.log_freq == 0: if step % cfg.log_freq == 0: