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Fix: Prevent Invalid next_state References When optimize_memory=True #918

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Merged
AdilZouitine merged 1 commit into from
Mar 31, 2025
Merged

Fix: Prevent Invalid next_state References When optimize_memory=True #918

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3 changes: 2 additions & 1 deletion lerobot/scripts/server/buffer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -286,9 +286,10 @@ def sample(self, batch_size: int) -> BatchTransition:
raise RuntimeError("Cannot sample from an empty buffer. Add transitions first.")

batch_size = min(batch_size, self.size)
high = max(0, self.size - 1) if self.optimize_memory and self.size < self.capacity else self.size

# Random indices for sampling - create on the same device as storage
idx = torch.randint(low=0, high=self.size, size=(batch_size,), device=self.storage_device)
idx = torch.randint(low=0, high=high, size=(batch_size,), device=self.storage_device)

# Identify image keys that need augmentation
image_keys = [k for k in self.states if k.startswith("observation.image")] if self.use_drq else []
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