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Merge branch 'main' into user/michel-aractingi/2025_06_30_dataset_v3

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Signed-off-by: Michel Aractingi <michel.aractingi@huggingface.co>
This commit is contained in:
Michel Aractingi
2025-07-15 21:40:22 +02:00
parent 3483e4441e e6e1f085d4
commit e05d22cb7b
138 changed files with 6032 additions and 939 deletions
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4
src/lerobot/scripts/train.py
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@@ -181,7 +181,7 @@ def train(cfg: TrainPipelineConfig):
batch_size=cfg.batch_size,
shuffle=shuffle,
sampler=sampler,
pin_memory=device.type != "cpu",
pin_memory=device.type == "cuda",
drop_last=False,
)
dl_iter = cycle(dataloader)
@@ -208,7 +208,7 @@ def train(cfg: TrainPipelineConfig):
for key in batch:
if isinstance(batch[key], torch.Tensor):
batch[key] = batch[key].to(device, non_blocking=True)
batch[key] = batch[key].to(device, non_blocking=device.type == "cuda")
train_tracker, output_dict = update_policy(
train_tracker,