From 87d4c9879c1c02ba5bb0267c216e6935550561cd Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Sat, 18 Apr 2026 15:19:35 +0200 Subject: [PATCH] fix(sac): clarify torch.compile status --- src/lerobot/policies/sac/configuration_sac.py | 2 ++ src/lerobot/rl/algorithms/sac/sac_algorithm.py | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/lerobot/policies/sac/configuration_sac.py b/src/lerobot/policies/sac/configuration_sac.py index a6c7d7f21..4e7fa6e05 100644 --- a/src/lerobot/policies/sac/configuration_sac.py +++ b/src/lerobot/policies/sac/configuration_sac.py @@ -194,6 +194,8 @@ class SACConfig(PreTrainedConfig): concurrency: ConcurrencyConfig = field(default_factory=ConcurrencyConfig) # Optimizations + # torch.compile is currently disabled by default due to known issues with the SAC + # critic ensemble and shared encoder. use_torch_compile: bool = False def __post_init__(self): diff --git a/src/lerobot/rl/algorithms/sac/sac_algorithm.py b/src/lerobot/rl/algorithms/sac/sac_algorithm.py index 4f92ce859..137c86f22 100644 --- a/src/lerobot/rl/algorithms/sac/sac_algorithm.py +++ b/src/lerobot/rl/algorithms/sac/sac_algorithm.py @@ -114,7 +114,7 @@ class SACAlgorithm(RLAlgorithm): **asdict(self.config.discrete_critic_network_kwargs), ) - # TODO: (maractingi, azouitine) Compile the discrete critic + # TODO(Khalil): Compile the discrete critic discrete_critic_target.load_state_dict(discrete_critic.state_dict()) return discrete_critic, discrete_critic_target