diff --git a/lerobot/configs/policy/tdmpc.yaml b/lerobot/configs/policy/tdmpc.yaml
index eefbb303..d97a6b08 100644
--- a/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -58,7 +58,7 @@ policy:
   discount: 0.9
 
   # Inference.
-  use_mpc: false
+  use_mpc: true
   cem_iterations: 6
   max_std: 2.0
   min_std: 0.05
diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index 7f0d36eb..fd9c6d10 100644
--- a/lerobot/scripts/train.py
+++ b/lerobot/scripts/train.py
@@ -303,6 +303,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
     init_logging()
 
     if cfg.training.online_steps > 0 and cfg.eval.batch_size > 1:
+        # TODO(now)
         logging.warning("eval.batch_size > 1 not supported for online training steps")
 
     # Check device is available