From 3b6fff70e1baf90be5afa385277122bb0ff6d4a1 Mon Sep 17 00:00:00 2001
From: Pepijn <pepijn@huggingface.co>
Date: Mon, 17 Mar 2025 08:30:02 +0100
Subject: [PATCH] remove beta

---
 lerobot/common/datasets/sampler.py | 2 --
 lerobot/scripts/train.py           | 1 -
 2 files changed, 3 deletions(-)

diff --git a/lerobot/common/datasets/sampler.py b/lerobot/common/datasets/sampler.py
index ff34aefa..64e9e94f 100644
--- a/lerobot/common/datasets/sampler.py
+++ b/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
 
diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index 2ffcf8a9..d379cfc8 100644
--- a/lerobot/scripts/train.py
+++ b/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,
     )