revision

lerobot/scripts/train.py

@@ -152,7 +152,6 @@ def train(cfg: dict, out_dir=None, job_name=None):
 
     logging.info("make_policy")
     policy = make_policy(cfg)
-    policy.save("act.pt")
 
     num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad)
     num_total_params = sum(p.numel() for p in policy.parameters())
@@ -198,7 +197,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
     is_offline = True
     dataloader = torch.utils.data.DataLoader(
         dataset,
-        num_workers=0,
+        num_workers=4,
         batch_size=cfg.policy.batch_size,
         shuffle=True,
         pin_memory=cfg.device != "cpu",