From 79c3466f0ff4c2def2ea3a4ada649c99f9d25b69 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Sun, 31 Aug 2025 19:44:27 +0200 Subject: [PATCH] fix dinov3 --- src/lerobot/policies/rlearn/modeling_rlearn.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/lerobot/policies/rlearn/modeling_rlearn.py b/src/lerobot/policies/rlearn/modeling_rlearn.py index e8f1db5b1..c6399226a 100644 --- a/src/lerobot/policies/rlearn/modeling_rlearn.py +++ b/src/lerobot/policies/rlearn/modeling_rlearn.py @@ -377,9 +377,7 @@ class RLearNPolicy(PreTrainedPolicy): inputs = {k: v.to(device) for k, v in inputs.items()} # Process in batch through DINOv3 model - # Use inference mode for stable, fast frozen encoder forward - with torch.inference_mode(): - vision_outputs = self.vision_model(**inputs) + vision_outputs = self.vision_model(**inputs) # Prefer mean-pooled patch tokens over pooler/CLS to ensure input-dependent variation if hasattr(vision_outputs, 'last_hidden_state') and vision_outputs.last_hidden_state is not None: