Fix gymnasium version as pre-1.0.0 #471
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Cadene
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Oct 17, 2024
Cadene
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Oct 17, 2024
astroyat
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Nov 23, 2024
Co-authored-by: Remi <re.cadene@gmail.com> Co-authored-by: Remi <remi.cadene@huggingface.co>
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What this does
This PR fixes #470 (🐛 Bug)
The issue is caused by recent v1.0.0 release of
gymnasiumfrom 08.10.2024.It looks like the
final_infokey-value pair is no longer available in the output ofSyncVectorEnv.step, so evaluation code for success_rate in lerobot/scripts/eval.py gets broken.The proper fix of the issue requires changes in
eval.pyand subsequent checks versus available configs.This PR fixes evaluation behavior "as it was before" and postpones the usage of gymnasium==1.0.0 until necessary changes and checks are done.
How it was tested
I have installed
gymnasium==0.29.1(which is the latest pre-1.0.0) locally and re-evaluated trained diffusion policy for pushT and achieved correctpc_success:{'avg_sum_reward': 101.66934858131904, 'avg_max_reward': 0.9727046033094218, 'pc_success': 76.0, 'eval_s': 69.3367211818695, 'eval_ep_s': 1.3867344379425048}How to checkout & try? (for the reviewer)
git remote add zimka https://github.com/zimka/lerobotgit checkout zimka fix_gymnasium_version