device autocast

src/lerobot/policies/vla_jepa/modeling_vla_jepa.py

@@ -26,6 +26,7 @@ from torch import Tensor, nn
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.utils import populate_queues
 from lerobot.utils.constants import ACTION, OBS_STATE
+from lerobot.utils.device_utils import get_autocast_context
 from lerobot.utils.import_utils import _transformers_available, require_package
 
 if TYPE_CHECKING or _transformers_available:
@@ -183,7 +184,7 @@ class VLAJEPAModel(nn.Module):
             action_idx = action_mask.nonzero(as_tuple=True)
 
         device_type = next(self.parameters()).device.type
-        with torch.autocast(device_type=device_type, dtype=torch.bfloat16):
+        with get_autocast_context(device_type, torch.bfloat16):
             last_hidden = self._qwen_last_decoder_hidden(qwen_inputs)  # [B, seq_len, H]
             b, _, h = last_hidden.shape
             embodied_action_tokens = last_hidden[embodied_idx[0], embodied_idx[1], :].view(b, -1, h)
@@ -246,8 +247,8 @@ class VLAJEPAModel(nn.Module):
         )
         if reduction == "none":
             # Per-sample loss (B,): mean over all non-batch dims (tokens, feature).
-            l = F.l1_loss(predicted_states, gt_states.float(), reduction="none")
+            elementwise = F.l1_loss(predicted_states, gt_states.float(), reduction="none")
-            return l.mean(dim=tuple(range(1, l.ndim)))
+            return elementwise.mean(dim=tuple(range(1, elementwise.ndim)))
         return F.l1_loss(predicted_states, gt_states.float(), reduction="mean")
 
     def _action_loss(
@@ -264,7 +265,7 @@ class VLAJEPAModel(nn.Module):
         independent noise draws are averaged back per original sample — for RA-BC weighting.
         """
         device_type = next(self.parameters()).device.type
-        with torch.autocast(device_type=device_type, dtype=torch.float32):
+        with get_autocast_context(device_type, torch.float32):
             r = self.config.repeated_diffusion_steps
             horizon = self.config.chunk_size
             b = embodied_action_tokens.shape[0]

src/lerobot/utils/device_utils.py

@@ -15,6 +15,7 @@
 # limitations under the License.
 
 import logging
+from contextlib import nullcontext
 
 import torch
 
@@ -121,3 +122,25 @@ def is_amp_available(device: str):
         return False
     else:
         raise ValueError(f"Unknown device '{device}.")
+
+
+def get_autocast_context(device_type: str, dtype: torch.dtype = torch.bfloat16):
+    """Return a device-safe autocast context manager.
+
+    Hardcoding `torch.autocast(dtype=torch.bfloat16)` breaks on backends without AMP
+    (MPS) and silently misbehaves on pre-Ampere CUDA GPUs that lack bf16 support. This
+    picks a safe context per device:
+      - no AMP support (e.g. mps): `nullcontext()` (run in the tensors' native dtype)
+      - CUDA requesting bf16 on compute capability < 8.0 (pre-Ampere): fall back to fp16
+      - otherwise: `torch.autocast(device_type, dtype)`
+    """
+    if not is_amp_available(device_type):
+        return nullcontext()
+    if (
+        device_type == "cuda"
+        and dtype == torch.bfloat16
+        and torch.cuda.is_available()
+        and torch.cuda.get_device_capability()[0] < 8
+    ):
+        dtype = torch.float16
+    return torch.autocast(device_type=device_type, dtype=dtype)