lerobot/lerobot/common/policies/utils.py

31 lines
979 B
Python

import torch
from torch import nn
def populate_queues(queues, batch):
for key in batch:
if len(queues[key]) != queues[key].maxlen:
# initialize by copying the first observation several times until the queue is full
while len(queues[key]) != queues[key].maxlen:
queues[key].append(batch[key])
else:
# add latest observation to the queue
queues[key].append(batch[key])
return queues
def get_device_from_parameters(module: nn.Module) -> torch.device:
"""Get a module's device by checking one of its parameters.
Note: assumes that all parameters have the same device
"""
return next(iter(module.parameters())).device
def get_dtype_from_parameters(module: nn.Module) -> torch.dtype:
"""Get a module's parameter dtype by checking one of its parameters.
Note: assumes that all parameters have the same dtype.
"""
return next(iter(module.parameters())).dtype