feat(act): add torch.compile support for ACT policy#3061
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jashshah999 wants to merge 1 commit intohuggingface:mainfrom
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feat(act): add torch.compile support for ACT policy#3061jashshah999 wants to merge 1 commit intohuggingface:mainfrom
jashshah999 wants to merge 1 commit intohuggingface:mainfrom
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Add `compile_model` and `compile_mode` config options to ACTPolicy, following the same pattern used by DiffusionPolicy, PI0, and SAC. When enabled, `self.model` (the ACT nn.Module) is wrapped with `torch.compile()`, providing inference speedups without requiring any changes to the model architecture.
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Gentle ping -- this follows the same pattern already merged for DiffusionPolicy (#2486) and PI0. Happy to address any feedback. |
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What this does
Adds
compile_modelandcompile_modeconfig options to ACTPolicy, following the same pattern used by DiffusionPolicy, PI0, and SAC.When
compile_model=True,self.model(the innerACTnn.Module) is wrapped withtorch.compile(), providing inference speedups with no changes to the model architecture.This works cleanly because all
.item()calls and action queue logic live inACTPolicy(which stays uncompiled), whileACT.forward()is pure tensor computation.Changes
configuration_act.py: Addcompile_model: bool = Falseandcompile_mode: str = "reduce-overhead"config fieldsmodeling_act.py: Applytorch.compiletoself.modelinACTPolicy.__init__when enabledtests/policies/test_compile.py: Correctness test verifying compiled and non-compiled outputs match, plus training forward pass testCloses #2061