simple eval

src/lerobot/policies/rlearn/eval_script.py

@@ -142,7 +142,8 @@ def extract_episode_frames_and_gt(dataset, episode_idx):
 def predict_rewards_sliding(model, frames, language, max_seq_len=16, batch_size=64, device="cuda"):
     """
     Sliding-window prediction: for each frame i, create a window [max(0, i-L+1) .. i],
-    left-pad by repeating the first frame to length L (<= 16), and take the last-step prediction.
+    left-pad by repeating the first frame to length L (<= 16), and take the prediction 
+    corresponding to the current frame's position in the window.
     Returns np.ndarray of shape (T,).
     """
     T = frames.shape[0]
@@ -153,34 +154,49 @@ def predict_rewards_sliding(model, frames, language, max_seq_len=16, batch_size=
     frames = frames.to(device)
 
     windows = []
+    frame_positions = []  # Track which temporal position each frame occupies in its window
+    
     for i in range(T):
         start = max(0, i - L + 1)
         window = frames[start : i + 1]  # (len<=L, C, H, W)
-
+        
+        # Calculate the temporal position of the current frame within the padded window
+        actual_window_length = window.shape[0]
+        
         if window.shape[0] < L:
             pad_needed = L - window.shape[0]
             pad = window[:1].expand(pad_needed, -1, -1, -1)  # repeat first frame
             window = torch.cat([pad, window], dim=0)
-
+            # After padding, the current frame is at position: pad_needed + (actual_window_length - 1)
+            frame_pos = pad_needed + actual_window_length - 1
+        else:
+            # No padding needed, current frame is at the last position
+            frame_pos = L - 1
+            
         windows.append(window)
+        frame_positions.append(frame_pos)
 
     preds = np.zeros(T, dtype=float)
 
     for s in range(0, T, batch_size):
         e = min(s + batch_size, T)
         batch_windows = torch.stack(windows[s:e])  # (B, L, C, H, W)
+        batch_positions = frame_positions[s:e]
 
         batch = {OBS_IMAGES: batch_windows, OBS_LANGUAGE: [language] * (e - s)}  # expects (B, L, C, H, W)
 
-        # Model should return (B, L) or (B,) final-step values. We take the last step.
-        values = model.predict_rewards(batch)  # torch.Tensor
+        # Model returns (B, L) predictions for each temporal position
+        values = model.predict_rewards(batch)  # torch.Tensor (B, L)
 
         if values.dim() == 2:
-            last = values[:, -1]
+            # Extract the prediction corresponding to each frame's position in its window
+            batch_preds = []
+            for b_idx, pos in enumerate(batch_positions):
+                batch_preds.append(values[b_idx, pos].item())
+            preds[s:e] = np.array(batch_preds)
         else:
-            last = values.squeeze(-1)
-
-        preds[s:e] = last.detach().float().cpu().numpy()
+            # Fallback: if model returns (B,), use as is
+            preds[s:e] = values.detach().float().cpu().numpy()
 
     return preds