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sample on cpu

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Pepijn
2026-03-04 21:31:32 +01:00
parent 45a4c6468d
commit 89359cb0b6
1 changed files with 4 additions and 3 deletions
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src/lerobot/policies/pi05/modeling_pi05.py
+4 -3
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@@ -99,10 +99,11 @@ def create_sinusoidal_pos_embedding( # see openpi `create_sinusoidal_pos_embedd
def sample_beta(alpha, beta, bsize, device): # see openpi `sample_beta` (exact copy) def sample_beta(alpha, beta, bsize, device): # see openpi `sample_beta` (exact copy)
alpha_t = torch.as_tensor(alpha, dtype=torch.float32, device=device) # Beta sampling uses _sample_dirichlet which isn't implemented for MPS, so sample on CPU
beta_t = torch.as_tensor(beta, dtype=torch.float32, device=device) alpha_t = torch.tensor(alpha, dtype=torch.float32)
beta_t = torch.tensor(beta, dtype=torch.float32)
dist = torch.distributions.Beta(alpha_t, beta_t) dist = torch.distributions.Beta(alpha_t, beta_t)
return dist.sample((bsize,)) return dist.sample((bsize,)).to(device)
def make_att_2d_masks(pad_masks, att_masks): # see openpi `make_att_2d_masks` (exact copy) def make_att_2d_masks(pad_masks, att_masks): # see openpi `make_att_2d_masks` (exact copy)