more

src/lerobot/scripts/lerobot_eval.py

@@ -167,12 +167,15 @@ def rollout(
         # Infer "task" from attributes of environments.
         # TODO: works with SyncVectorEnv but not AsyncVectorEnv
         observation = add_envs_task(env, observation)
+
         # Apply environment-specific preprocessing (e.g., LiberoProcessorStep for LIBERO)
         observation = env_preprocessor(observation)
+
         observation = preprocessor(observation)
         with torch.inference_mode():
             action = policy.select_action(observation)
         action = postprocessor(action)
+        
         action_transition = {"action": action}
         action_transition = env_postprocessor(action_transition)
         action = action_transition["action"]