remove beta

lerobot/common/datasets/sampler.py

@@ -132,7 +132,6 @@ class PrioritizedSampler(Sampler[int]):
         self,
         data_len: int,
         alpha: float = 0.6,
-        beta: float = 0.4,  # For important sampling
         eps: float = 1e-6,
         num_samples_per_epoch: Optional[int] = None,
     ):
@@ -146,7 +145,6 @@ class PrioritizedSampler(Sampler[int]):
         """
         self.data_len = data_len
         self.alpha = alpha
-        self.beta = beta
         self.eps = eps
         self.num_samples_per_epoch = num_samples_per_epoch or data_len
 

lerobot/scripts/train.py

@@ -181,7 +181,6 @@ def train(cfg: TrainPipelineConfig):
     sampler = PrioritizedSampler(
         data_len=data_len,
         alpha=0.6,
-        beta=0.4,  # For important sampling
         eps=1e-6,
         num_samples_per_epoch=data_len,
     )