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jimmytyyang
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look good! let's debug this when we depoly on the hardware
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| # Copyright (c) Meta Platforms, Inc. and its affiliates. | |||
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we recreate a new base env? what are the issues if we use the old one?
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there's a lot of stuff in the old one that might not be needed anymore, it was easier to pull out parts that I needed into this one. For an example, the old one passes the RGB images through segmentation model, whereas we now want to use the RGB as input to our policy and not use any segmentation models.
skill_vla/examples/test_skill_vla.py
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| policy.reset() | ||
| while not done: | ||
| action = policy.act(observations) | ||
| observations, _, done, _ = env.step(base_action=action) |
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good point! I guess what you do here is to create a simple while loop RL env, so that we do not need to go through the complex existing env stuff
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Motivation and Context
New evaluation code for VLA policies
How Has This Been Tested
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