From 69afc87149a7cac89816e94c51a9834f00a2d3c4 Mon Sep 17 00:00:00 2001
From: Remi Cadene <remi.cadene@huggingface.co>
Date: Thu, 30 Jan 2025 09:23:22 +0100
Subject: [PATCH] Fix eval on real robots

---
 lerobot/scripts/train.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index d8136681e4..954c796991 100644
--- a/lerobot/scripts/train.py
+++ b/lerobot/scripts/train.py
@@ -242,10 +242,9 @@ def evaluate_and_checkpoint_if_needed(step: int, is_online: bool):
         _num_digits = max(6, len(str(cfg.offline.steps + cfg.online.steps)))
         step_identifier = f"{step:0{_num_digits}d}"
 
-        if cfg.eval_freq > 0 and step % cfg.eval_freq == 0:
+        if cfg.env is not None and cfg.eval_freq > 0 and step % cfg.eval_freq == 0:
             logging.info(f"Eval policy at step {step}")
             with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.use_amp else nullcontext():
-                assert eval_env is not None
                 eval_info = eval_policy(
                     eval_env,
                     policy,