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lerobot_piper/lerobot/common/policies/utils.py
Alexander Soare 6d0a45a97d ready for review
2024-04-12 11:36:52 +01:00

31 lines
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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