refactor(config): Move device & amp args to PreTrainedConfig #812
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imstevenpmwork
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Cadene
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Mar 4, 2025
…ntrol_loop + ensure proper use of device str or torch.device fix(configs/policies): Ensure try_device is a str refactor(ci): update config changes to makefile fix(scripts/control_robot): Take arg from config instead of policy refactor(robot_devices/control_utils): Remove device and use_amps args from the record_episode and control_loop functions fix(config): ensure consistency when using device as str or as a torch.device
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aliberts
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aliberts
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What this does
Related to: #683
This PR moves the
deviceanduse_ampconfiguration arguments fromTrainPipelineConfigclass to thePreTrainedConfigclass. This change affects some other classes and functions in the code path, including:__post_init__method of thePreTrainedConfigclassmake_policy: No longer needsdeviceinput arg, as this is now incfgfrom_pretrained: No longer needsdeviceinput arg, as this is now inconfigPreTrainedConfigobject or inheriting from its class no longer need thedeviceanduse_ampattributesPreTrainedConfigclass.In order to fully integrate and test this PR (in the CI), we will need to merge these sisters PRs in our HF Hub repository for the public models:
diffusion_pusht: https://huggingface.co/lerobot/diffusion_pusht/discussions/3vqbet_pusht: https://huggingface.co/lerobot/vqbet_pusht/discussions/3pi0: https://huggingface.co/lerobot/pi0/discussions/11act_aloha_sim_transfer_cube_human: https://huggingface.co/lerobot/act_aloha_sim_transfer_cube_human/discussions/4act_aloha_sim_insertion_human: https://huggingface.co/lerobot/act_aloha_sim_insertion_human/discussions/2/filesNote: This PR is meant to be squash merged
How it was tested
uv run pytestdidn't have any failing testHow to checkout & try? (for the reviewer)
uv run pytest