revision

lerobot/common/datasets/abstract.py

@@ -59,8 +59,6 @@ class AbstractDataset(TensorDictReplayBuffer):
         collate_fn: Callable | None = None,
         writer: Writer | None = None,
         transform: "torchrl.envs.Transform" = None,
-        # Don't actually load any data. This is a stand-in solution to get the transforms.
-        dummy: bool = False,
     ):
         assert (
             self.available_datasets is not None
@@ -79,7 +77,7 @@ class AbstractDataset(TensorDictReplayBuffer):
                 f"The version of the dataset ({self.version}) is not enforced when root is provided ({self.root})."
             )
 
-        storage = self._download_or_load_dataset() if not dummy else None
+        storage = self._download_or_load_dataset()
 
         super().__init__(
             storage=storage,

lerobot/common/datasets/aloha.py

@@ -97,7 +97,6 @@ class AlohaDataset(AbstractDataset):
         collate_fn: Callable | None = None,
         writer: Writer | None = None,
         transform: "torchrl.envs.Transform" = None,
-        dummy: bool = False,
     ):
         super().__init__(
             dataset_id,
@@ -111,7 +110,6 @@ class AlohaDataset(AbstractDataset):
             collate_fn=collate_fn,
             writer=writer,
             transform=transform,
-            dummy=dummy,
         )
 
     @property

lerobot/common/datasets/factory.py

@@ -21,12 +21,7 @@ def make_offline_buffer(
     overwrite_batch_size=None,
     overwrite_prefetch=None,
     stats_path=None,
-    # Don't actually load any data. This is a stand-in solution to get the transforms.
-    dummy=False,
 ):
-    if dummy and normalize and stats_path is None:
-        raise ValueError("`stats_path` is required if `dummy` and `normalize` are True.")
-
     if cfg.policy.balanced_sampling:
         assert cfg.online_steps > 0
         batch_size = None
@@ -93,7 +88,6 @@ def make_offline_buffer(
         root=DATA_DIR,
         pin_memory=pin_memory,
         prefetch=prefetch if isinstance(prefetch, int) else None,
-        dummy=dummy,
     )
 
     if cfg.policy.name == "tdmpc":

lerobot/common/datasets/pusht.py

@@ -100,7 +100,6 @@ class PushtDataset(AbstractDataset):
         collate_fn: Callable | None = None,
         writer: Writer | None = None,
         transform: "torchrl.envs.Transform" = None,
-        dummy: bool = False,
     ):
         super().__init__(
             dataset_id,
@@ -114,7 +113,6 @@ class PushtDataset(AbstractDataset):
             collate_fn=collate_fn,
             writer=writer,
             transform=transform,
-            dummy=dummy,
         )
 
     def _download_and_preproc_obsolete(self):

lerobot/common/datasets/simxarm.py

@@ -51,7 +51,6 @@ class SimxarmDataset(AbstractDataset):
         collate_fn: Callable | None = None,
         writer: Writer | None = None,
         transform: "torchrl.envs.Transform" = None,
-        dummy: bool = False,
     ):
         super().__init__(
             dataset_id,
@@ -65,7 +64,6 @@ class SimxarmDataset(AbstractDataset):
             collate_fn=collate_fn,
             writer=writer,
             transform=transform,
-            dummy=dummy,
         )
 
     def _download_and_preproc_obsolete(self):