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Fix RoboGauge duplicate logs

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wty-yy
2026-07-06 12:25:44 +08:00
parent dbbdc60664
commit 30e74dc507
1 changed files with 4 additions and 0 deletions
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4
rsl_rl/rsl_rl/runners/on_policy_runner_cts.py
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@@ -119,6 +119,7 @@ class OnPolicyRunnerCTS:
except Exception as e: except Exception as e:
print(f"[INFO] RoboGauge client could not be initialized: {e}, disabling RoboGauge interface.") print(f"[INFO] RoboGauge client could not be initialized: {e}, disabling RoboGauge interface.")
self.robogauge_client = None self.robogauge_client = None
self._logged_robogauge_steps: set[int] = set()
def learn(self, num_learning_iterations, init_at_random_ep_len=False): def learn(self, num_learning_iterations, init_at_random_ep_len=False):
# initialize writer # initialize writer
@@ -343,11 +344,14 @@ class OnPolicyRunnerCTS:
continue continue
if step == it: if step == it:
result_received = True result_received = True
if step in self._logged_robogauge_steps:
continue
for key, val in scores.items(): for key, val in scores.items():
self.writer.add_scalar(f'RoboGauge/{key}', val, step) self.writer.add_scalar(f'RoboGauge/{key}', val, step)
results_path = os.path.join(results_dir, f'results_{step}.yaml') results_path = os.path.join(results_dir, f'results_{step}.yaml')
with open(results_path, 'w', encoding='utf-8') as f: with open(results_path, 'w', encoding='utf-8') as f:
yaml.dump(results, f, allow_unicode=True, sort_keys=False) yaml.dump(results, f, allow_unicode=True, sort_keys=False)
self._logged_robogauge_steps.add(step)
if last_model and result_received: if last_model and result_received:
print(f"RoboGauge result for step {it} received. Exiting wait loop.") print(f"RoboGauge result for step {it} received. Exiting wait loop.")