From 6fb8539159f4acef9a8c8eede590b13a0e44151d Mon Sep 17 00:00:00 2001 From: nemo Date: Thu, 16 Oct 2025 16:06:23 +0200 Subject: [PATCH] Don't unload & merge the PEFT model This can make things hard when using quantized layers (user expects quantized base layers with unquantized adapters for example, merging defaults to upcast the layers leading to higher memory). --- src/lerobot/scripts/lerobot_record.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/lerobot/scripts/lerobot_record.py b/src/lerobot/scripts/lerobot_record.py index f233aef38..91cbbfb86 100644 --- a/src/lerobot/scripts/lerobot_record.py +++ b/src/lerobot/scripts/lerobot_record.py @@ -446,10 +446,6 @@ def record(cfg: RecordConfig) -> LeRobotDataset: policy = make_policy(cfg.policy, ds_meta=dataset.meta) policy = PeftModel.from_pretrained(policy, peft_path) - # it is not necessary to merge and unload but for methods that support merging, - # it brings inference performance benefits. - policy = policy.merge_and_unload() - else: policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)