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refactor(config): Move device & amp args to PreTrainedConfig (#812)

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Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Steven Palma
2025-03-06 17:59:28 +01:00
committed by GitHub
parent 10706ed753
commit 5e9473806c
19 changed files with 62 additions and 136 deletions
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lerobot/scripts/eval.py
+3 -3
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@@ -458,7 +458,7 @@ def eval_main(cfg: EvalPipelineConfig):
logging.info(pformat(asdict(cfg)))
# Check device is available
device = get_safe_torch_device(cfg.device, log=True)
device = get_safe_torch_device(cfg.policy.device, log=True)
torch.backends.cudnn.benchmark = True
torch.backends.cuda.matmul.allow_tf32 = True
@@ -470,14 +470,14 @@ def eval_main(cfg: EvalPipelineConfig):
env = make_env(cfg.env, n_envs=cfg.eval.batch_size, use_async_envs=cfg.eval.use_async_envs)
logging.info("Making policy.")
policy = make_policy(
cfg=cfg.policy,
device=device,
env_cfg=cfg.env,
)
policy.eval()
with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.use_amp else nullcontext():
with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext():
info = eval_policy(
env,
policy,