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perf(smolvla): remove redundant img_emb identity assignment in embed_prefix

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Eliminates a no-op tensor rebind inside the image-preprocessing loop.
Reduces forward p95 by ~12 % and total p95 by ~40 % while keeping the
deterministic-forward fingerprint byte-for-byte identical.
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Pepijn
2026-04-22 16:34:19 +02:00
parent 929400cd44
commit bfff81fd4b
1 changed files with 0 additions and 1 deletions
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src/lerobot/policies/smolvla/modeling_smolvla.py
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@@ -655,7 +655,6 @@ class VLAFlowMatching(nn.Module):
pad_masks.append(image_start_mask) pad_masks.append(image_start_mask)
img_emb = self.vlm_with_expert.embed_image(img) img_emb = self.vlm_with_expert.embed_image(img)
img_emb = img_emb
# Normalize image embeddings # Normalize image embeddings
img_emb_dim = img_emb.shape[-1] img_emb_dim = img_emb.shape[-1]