backup wip

lerobot/scripts/train.py

@@ -7,7 +7,6 @@ import torch
 from tensordict.nn import TensorDictModule
 from torchrl.data import LazyMemmapStorage, TensorDictReplayBuffer
 from torchrl.data.replay_buffers import PrioritizedSliceSampler
-from torchrl.envs import SerialEnv
 
 from lerobot.common.datasets.factory import make_offline_buffer
 from lerobot.common.envs.factory import make_env
@@ -149,14 +148,6 @@ def train(cfg: dict, out_dir=None, job_name=None):
 
     logging.info("make_env")
     env = make_env(cfg, transform=offline_buffer.transform)
-    env = SerialEnv(
-        cfg.rollout_batch_size,
-        create_env_fn=make_env,
-        create_env_kwargs=[
-            {"cfg": cfg, "seed": s, "transform": offline_buffer.transform}
-            for s in range(cfg.seed, cfg.seed + cfg.rollout_batch_size)
-        ],
-    )
 
     logging.info("make_policy")
     policy = make_policy(cfg)