Remove b/c workaround

README.md

@@ -145,7 +145,6 @@ Or you can achieve the same result by executing our script from the command line
 ```bash
 python lerobot/scripts/eval.py \
 --hub-id lerobot/diffusion_policy_pusht_image \
---revision v1.0 \
 eval_episodes=10 \
 hydra.run.dir=outputs/eval/example_hub
 ```

lerobot/common/datasets/factory.py

@@ -81,13 +81,8 @@ def make_offline_buffer(
     else:
         raise ValueError(cfg.env.name)
 
-    # TODO(rcadene): backward compatiblity to load pretrained pusht policy
-    dataset_id = cfg.get("dataset_id")
-    if dataset_id is None and cfg.env.name == "pusht":
-        dataset_id = "pusht"
-
     offline_buffer = clsfunc(
-        dataset_id=dataset_id,
+        dataset_id=cfg.dataset_id,
         sampler=sampler,
         batch_size=batch_size,
         root=DATA_DIR,