Fix convergence of sac, multiple torch compile on the same model caused divergence

lerobot/common/policies/sac/modeling_sac.py

@@ -112,7 +112,6 @@ class SACPolicy(
 
         self.critic_ensemble = torch.compile(self.critic_ensemble)
         self.critic_target = torch.compile(self.critic_target)
-
         self.actor = Policy(
             encoder=encoder_actor,
             network=MLP(input_dim=encoder_actor.output_dim, **asdict(config.actor_network_kwargs)),

lerobot/scripts/server/actor_server.py

@@ -231,7 +231,6 @@ def act_with_policy(
         cfg=cfg.policy,
         env_cfg=cfg.env,
     )
-    policy = torch.compile(policy)
     assert isinstance(policy, nn.Module)
 
     obs, info = online_env.reset()

lerobot/scripts/server/learner_server.py

@@ -286,8 +286,6 @@ def add_actor_information_and_train(
         env_cfg=cfg.env,
     )
  
-    # compile policy
-    policy = torch.compile(policy)
     assert isinstance(policy, nn.Module)
     policy.train()