LeRobot 本地化 patch

仅供参考

训练跟复现时候还是会去本地 .cache hugging face 资料夹底下取数据. 有空再优化吧

diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py
index b32cf70..43623e0 100644
--- a/lerobot/common/datasets/lerobot_dataset.py
+++ b/lerobot/common/datasets/lerobot_dataset.py
@@ -76,11 +76,11 @@ class LeRobotDatasetMetadata:
         self,
         repo_id: str,
         root: str | Path | None = None,
-        local_files_only: bool = False,
+        local_files_only: bool = True,
     ):
         self.repo_id = repo_id
         self.root = Path(root) if root is not None else LEROBOT_HOME / repo_id
-        self.local_files_only = local_files_only
+        self.local_files_only = True
 
         # Load metadata
         (self.root / "meta").mkdir(exist_ok=True, parents=True)
@@ -102,7 +102,7 @@ class LeRobotDatasetMetadata:
             local_dir=self.root,
             allow_patterns=allow_patterns,
             ignore_patterns=ignore_patterns,
-            local_files_only=self.local_files_only,
+            local_files_only=True,
         )
 
     @cached_property
@@ -325,7 +325,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         delta_timestamps: dict[list[float]] | None = None,
         tolerance_s: float = 1e-4,
         download_videos: bool = True,
-        local_files_only: bool = False,
+        local_files_only: bool = True,
         video_backend: str | None = None,
     ):
         """
@@ -434,7 +434,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         self.tolerance_s = tolerance_s
         self.video_backend = video_backend if video_backend else "pyav"
         self.delta_indices = None
-        self.local_files_only = local_files_only
+        self.local_files_only = True
 
         # Unused attributes
         self.image_writer = None
diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py
index 8cc0f32..959f1ca 100644
--- a/lerobot/common/robot_devices/control_utils.py
+++ b/lerobot/common/robot_devices/control_utils.py
@@ -329,17 +329,7 @@ def sanity_check_dataset_name(repo_id, policy):
     # either repo_id doesnt start with "eval_" and there is no policy
     # or repo_id starts with "eval_" and there is a policy
 
-    # Check if dataset_name starts with "eval_" but policy is missing
-    if dataset_name.startswith("eval_") and policy is None:
-        raise ValueError(
-            f"Your dataset name begins with 'eval_' ({dataset_name}), but no policy is provided."
-        )
 
-    # Check if dataset_name does not start with "eval_" but policy is provided
-    if not dataset_name.startswith("eval_") and policy is not None:
-        raise ValueError(
-            f"Your dataset name does not begin with 'eval_' ({dataset_name}), but a policy is provided ({policy})."
-        )
 
 
 def sanity_check_dataset_robot_compatibility(
diff --git a/lerobot/configs/robot/so100.yaml b/lerobot/configs/robot/so100.yaml
index ec6f3e3..28f3772 100644
--- a/lerobot/configs/robot/so100.yaml
+++ b/lerobot/configs/robot/so100.yaml
@@ -18,7 +18,7 @@ max_relative_target: null
 leader_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
-    port: /dev/tty.usbmodem585A0077581
+    port: /dev/ttyACM0
     motors:
       # name: (index, model)
       shoulder_pan: [1, "sts3215"]
@@ -31,7 +31,7 @@ leader_arms:
 follower_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
-    port: /dev/tty.usbmodem585A0080971
+    port: /dev/ttyACM1
     motors:
       # name: (index, model)
       shoulder_pan: [1, "sts3215"]
@@ -42,15 +42,18 @@ follower_arms:
       gripper: [6, "sts3215"]
 
 cameras:
+
   laptop:
     _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
     camera_index: 0
     fps: 30
     width: 640
     height: 480
+
   phone:
     _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
-    camera_index: 1
+    camera_index: 2
     fps: 30
     width: 640
     height: 480
+