backup wip

lerobot/configs/default.yaml

@@ -47,7 +47,6 @@ training:
   # faster data loading with datasets small enough to fit in memory. If you wish to use dataloader workers,
   # remember to set `dataloader_persistent_workers to True.
   dataset_use_cache: false
-  dataloader_num_workers: 4
   dataloader_persistent_workers: false
 
 eval:

lerobot/scripts/train.py

@@ -353,9 +353,6 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
     # log metrics to terminal and wandb
     logger = Logger(cfg, out_dir, wandb_job_name=job_name)
 
-    if cfg.training.online_steps > 0:
-        raise NotImplementedError("Online training is not implemented yet.")
-
     set_global_seed(cfg.seed)
 
     # Check device is available
@@ -451,7 +448,7 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
             shuffle=True,
         )
     else:
-        shuffle = True
+        shuffle = False  # TODO(now)
         sampler = None
     dataloader = torch.utils.data.DataLoader(
         offline_dataset,