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fix(training): apply DROID RLDS shuffle only when enabled #997

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fix(training): apply DROID RLDS shuffle only when enabled #997

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4 changes: 3 additions & 1 deletion src/openpi/training/droid_rlds_dataset.py
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Expand Up @@ -230,7 +230,9 @@ def decode_images(traj):
weights = [dataset.weight for dataset in datasets]

final_dataset = dl.DLataset.sample_from_datasets(all_datasets, weights=weights)
final_dataset = final_dataset.shuffle(shuffle_buffer_size)
# Honor the constructor `shuffle` flag (default True). Skip for deterministic evaluation.
if shuffle:
final_dataset = final_dataset.shuffle(shuffle_buffer_size)
final_dataset = final_dataset.batch(batch_size)
# Note =>> Seems to reduce memory usage without affecting speed?
final_dataset = final_dataset.with_ram_budget(1)
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