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Fix train real world #664

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Merged
aliberts merged 1 commit into from
Jan 30, 2025
Merged

Fix train real world #664

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3 changes: 1 addition & 2 deletions lerobot/scripts/train.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
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