8000 For policy evals, do not `display_data` during warmup by gautams3 · Pull Request #1087 · huggingface/lerobot · GitHub
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For policy evals, do not display_data during warmup #1087

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For policy evals, do not display_data during warmup #1087

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@gautams3 gautams3 commented May 9, 2025 •
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What this does

Fixes Bug 🐛
For policy evals, by default display_data is set to False. But there is a use-case for displaying proprioception and camera images during evals. Simply adding --control.display_data=true during record with a policy eval doesn't work. You get an error

 File "/path_to/lerobot/lerobot/common/robot_devices/control_utils.py", line 269, in control_loop
    for k, v in action.items():
UnboundLocalError: local variable 'action' referenced before assignment

This is a fix to address that.

How it was tested

Tested the eval script with --display_data=true on upstream/main and on my branch.

How to checkout & try? (for the reviewer)

Run the updated eval script in examples/10_use_so100.md step K (Evaluate your policy). To reproduce the bug, run the same command as above, without my changes.

python lerobot/scripts/control_robot.py \
  --robot.type=so100 \
  --control.type=record \
  --control.fps=30 \
  --control.single_task="Grasp a lego block and put it in the bin." \
  --control.repo_id=${HF_USER}/eval_act_so100_test \
  --control.tags='["tutorial"]' \
  --control.warmup_time_s=5 \
  --control.episode_time_s=30 \
  --control.reset_time_s=30 \
  --control.num_episodes=10 \
  --control.display_data=true \
  --control.push_to_hub=true \
  --control.policy.path=outputs/train/act_so100_test/checkpoints/last/pretrained_model

@youliangtan

@gautams3 gautams3 force-pushed the eval_display_fix branch from b3ad255 to 0dd5fbc Compare May 9, 2025 05:47
@gautams3 gautams3 changed the title Control_robot::record(): For evals, do not display_data during warmup [WIP] Control_robot::record(): For evals, do not display_data during warmup May 9, 2025
@gautams3 gautams3 marked this pull request as ready for review May 9, 2025 07:05
@gautams3 gautams3 changed the title [WIP] Control_robot::record(): For evals, do not display_data during warmup Control_robot::record(): For evals, do not display_data during warmup May 9, 2025
@gautams3 gautams3 changed the title Control_robot::record(): For evals, do not display_data during warmup For policy evals, do not display_data during warmup May 9, 2025
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