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Update lerobot/scripts/eval.py 

Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
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mshukor 2025-04-02 15:59:40 +02:00 committed by GitHub
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lerobot/scripts/eval.py
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@ -158,7 +158,7 @@ def rollout(
observation["task"] = env.call("task_description") observation["task"] = env.call("task_description")
elif hasattr(env.envs[0], "task"): elif hasattr(env.envs[0], "task"):
observation["task"] = env.call("task") observation["task"] = env.call("task")
else: else: #IIRC This was to deal with datasets without language instructions, i.e. aloha transfer cube and etc.?
observation["task"] = ["" for _ in range(observation[list(observation.keys())[0]].shape[0])] observation["task"] = ["" for _ in range(observation[list(observation.keys())[0]].shape[0])]
with torch.inference_mode(): with torch.inference_mode():
action = policy.select_action(observation) action = policy.select_action(observation)