Merge remote-tracking branch 'origin/user/rcadene/2024_03_31_remove_torchrl' into user/rcadene/2024_03_31_remove_torchrl

lerobot/scripts/eval.py

@@ -307,7 +307,7 @@ def eval(cfg: dict, out_dir=None, stats_path=None):
 
     logging.info("Making transforms.")
     # TODO(alexander-soare): Completely decouple datasets from evaluation.
-    dataset = make_dataset(cfg, stats_path=stats_path)
+    transform = make_dataset(cfg, stats_path=stats_path).transform
 
     logging.info("Making environment.")
     env = make_env(cfg, num_parallel_envs=cfg.eval_episodes)
@@ -322,7 +322,7 @@ def eval(cfg: dict, out_dir=None, stats_path=None):
         video_dir=Path(out_dir) / "eval",
         fps=cfg.env.fps,
         # TODO(rcadene): what should we do with the transform?
-        transform=dataset.transform,
+        transform=transform,
         seed=cfg.seed,
     )
     print(info["aggregated"])

lerobot/scripts/train.py

@@ -41,7 +41,6 @@ def log_train_info(logger, info, step, cfg, dataset, is_offline):
     loss = info["loss"]
     grad_norm = info["grad_norm"]
     lr = info["lr"]
-    data_s = info["data_s"]
     update_s = info["update_s"]
 
     # A sample is an (observation,action) pair, where observation and action
@@ -62,7 +61,6 @@ def log_train_info(logger, info, step, cfg, dataset, is_offline):
         f"grdn:{grad_norm:.3f}",
         f"lr:{lr:0.1e}",
         # in seconds
-        f"data_s:{data_s:.3f}",
         f"updt_s:{update_s:.3f}",
     ]
     logging.info(" ".join(log_items))