chore: clarify torch.compile disabled note in SACAlgorithm

src/lerobot/policies/sac/configuration_sac.py

@@ -195,7 +195,7 @@ class SACConfig(PreTrainedConfig):
     concurrency: ConcurrencyConfig = field(default_factory=ConcurrencyConfig)
 
     # Optimizations
-    use_torch_compile: bool = True
+    use_torch_compile: bool = False
 
     def __post_init__(self):
         super().__post_init__()

src/lerobot/rl/algorithms/sac/configuration_sac.py

@@ -48,7 +48,7 @@ class SACAlgorithmConfig(RLAlgorithmConfig):
     shared_encoder: bool = True
     critic_network_kwargs: CriticNetworkConfig = field(default_factory=CriticNetworkConfig)
     discrete_critic_network_kwargs: CriticNetworkConfig = field(default_factory=CriticNetworkConfig)
-    use_torch_compile: bool = True
+    use_torch_compile: bool = False
 
     @classmethod
     def from_policy_config(cls, policy_cfg) -> SACAlgorithmConfig:

src/lerobot/rl/algorithms/sac/sac_algorithm.py

@@ -87,6 +87,8 @@ class SACAlgorithm(RLAlgorithm):
         self.critic_target = CriticEnsemble(encoder=self.encoder_critic, ensemble=target_heads)
         self.critic_target.load_state_dict(self.critic_ensemble.state_dict())
 
+        # TODO(Khalil): Investigate and fix torch.compile
+        # NOTE: torch.compile is disabled, policy does not converge when enabled.
         if self.config.use_torch_compile:
             self.critic_ensemble = torch.compile(self.critic_ensemble)
             self.critic_target = torch.compile(self.critic_target)