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Experiemnt with late detach

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This commit is contained in:
Eugene Mironov
2025-11-07 01:59:02 +07:00
parent 16127642d4
commit 9354d7ef10
1 changed files with 1 additions and 2 deletions
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src/lerobot/policies/rtc/modeling_rtc.py
+1 -2
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@@ -190,8 +190,6 @@ class RTCProcessor:
# So we need to invert the time # So we need to invert the time
tau = 1 - time tau = 1 - time
x_t = x_t.clone().detach()
if prev_chunk_left_over is None: if prev_chunk_left_over is None:
# First step, no guidance - return v_t # First step, no guidance - return v_t
v_t = original_denoise_step_partial(x_t) v_t = original_denoise_step_partial(x_t)
@@ -237,6 +235,7 @@ class RTCProcessor:
with torch.enable_grad(): with torch.enable_grad():
v_t = original_denoise_step_partial(x_t) v_t = original_denoise_step_partial(x_t)
x_t = x_t.clone().detach()
x_t.requires_grad_(True) x_t.requires_grad_(True)
x1_t = x_t - time * v_t # noqa: N806 x1_t = x_t - time * v_t # noqa: N806