Simulate real world latency in eval.py #260
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What this does
DRAFT. Sketching out what we think "latency" means in the
rolloutfunction ofeval.py. On this basis, we we will design the infrastructure/logic for handling latency. After we've validated it in sim, we will validate it in the real world. Rinse and repeat till we have it right.How it was tested
TBD
How to checkout & try? (for the reviewer)
Run:
python lerobot/scripts/eval.py -p lerobot/diffusion_pusht eval.n_episodes=1 eval.batch_size=1 env.episode_length=100 policy.n_action_steps=15 +do_simulate_latency=trueThis change is