set num workers to zero in compute stats, temporary fix to hanging code when iterating over dataloader

examples/port_datasets/rlds_openx.py

@@ -160,9 +160,8 @@ def to_lerobotdataset_with_save_episode(raw_dir: Path, repo_id: str, push_to_hub
 
         for key in other_keys:
             if "language_instruction" in key:
-                continue
                 # Some openx dataset have multiple language commands
-                # episode_data[key] = episode[key].numpy()[0].decode("utf-8")
+                episode_data[key] = episode[key].numpy()[0].decode("utf-8")
             else:
                 if key == "is_last":
                     episode_data["next.done"] = tf_to_torch(episode[key])

lerobot/common/datasets/compute_stats.py

@@ -26,7 +26,6 @@ def get_stats_einops_patterns(dataset, num_workers=0):
 
     Note: We assume the images are in channel first format
     """
-
     dataloader = torch.utils.data.DataLoader(
         dataset,
         num_workers=num_workers,

lerobot/common/datasets/lerobot_dataset.py

@@ -895,7 +895,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         if run_compute_stats:
             self.stop_image_writer()
             # TODO(aliberts): refactor stats in save_episodes
-            self.meta.stats = compute_stats(self)
+            self.meta.stats = compute_stats(self, num_workers=0)
             serialized_stats = serialize_dict(self.meta.stats)
             write_json(serialized_stats, self.root / STATS_PATH)
             self.consolidated = True