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Fixes video recording in training, unifies logs directory, and normalizes _HERE path #24

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Merged
kevinzakka merged 8 commits into from
Sep 5, 2025
Merged

Fixes video recording in training, unifies logs directory, and normalizes _HERE path #24

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741c657
corrects error due to render mode
louislelay Aug 27, 2025
1362377
corrects similarly to velocity train script
louislelay Aug 27, 2025
e79088e
unifies log dir placement
louislelay Aug 27, 2025
dc3a6ef
corrects typo for indexable sequence
louislelay Aug 27, 2025
1c20f5f
makes the path absolute and normalized
louislelay Aug 27, 2025
33867a1
formats to pass PR checks
louislelay Aug 27, 2025
21fb963
formats to pass PR checks
louislelay Aug 27, 2025
c2c0a6e
resolves comments
louislelay Sep 2, 2025
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2 changes: 1 addition & 1 deletion scripts/tracking/rl/train.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ def main(
log_dir = log_root_path / log_dir

# Create env.
env = gym.make(task, cfg=env_cfg)
env = gym.make(task, cfg=env_cfg, render_mode="rgb_array" if video else None)

# Save resume path before creating a new log_dir.
resume_path = None
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4 changes: 1 addition & 3 deletions scripts/velocity/rl/play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,6 @@
KEY_BACKSPACE = 259
KEY_ENTER = 257

_HERE = Path(__file__).parent


def main(
task: str,
Expand All @@ -52,7 +50,7 @@ def main(
env_cfg.sim.render.height = video_height or env_cfg.sim.render.height
env_cfg.sim.render.width = video_width or env_cfg.sim.render.width

log_root_path = _HERE / "logs" / "rsl_rl" / agent_cfg.experiment_name
log_root_path = Path("logs") / "rsl_rl" / agent_cfg.experiment_name
log_root_path = log_root_path.resolve()
print(f"[INFO]: Loading experiment from: {log_root_path}")

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6 changes: 2 additions & 4 deletions scripts/velocity/rl/train.py
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Expand Up @@ -24,8 +24,6 @@
torch.backends.cudnn.deterministic = False
torch.backends.cudnn.benchmark = False

_HERE = Path(__file__).parent


def main(
task: str,
Expand All @@ -51,7 +49,7 @@ def main(
env_cfg.sim.device = device or env_cfg.sim.device

# Specify directory for logging experiments.
log_root_path = _HERE / "logs" / "rsl_rl" / agent_cfg.experiment_name
log_root_path = Path("logs") / "rsl_rl" / agent_cfg.experiment_name
log_root_path.resolve()
print(f"[INFO] Logging experiment in directory: {log_root_path}")
log_dir = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
Expand All @@ -60,7 +58,7 @@ def main(
log_dir = log_root_path / log_dir

# Create env.
env = gym.make(task, cfg=env_cfg)
env = gym.make(task, cfg=env_cfg, render_mode="rgb_array" if video else None)

# Save resume path before creating a new log_dir.
resume_path = (
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