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perf(policies): Make ACT policy compatible with torch.compile #2159

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perf(policies): Make ACT policy compatible with torch.compile #2159

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92e0400
chore: Add policies_compilation directory
tc-huang Oct 10, 2025
b25daa3
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Oct 18, 2025
c451ff1
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Oct 20, 2025
46edcb8
feat: Add torch.compile benchmark script
tc-huang Oct 18, 2025
545aed6
fix: Remove deprecated pi0fast from benchmark script
tc-huang Oct 18, 2025
67e341e
chore: Remove .gitkeep file from policies_compilation directory
tc-huang Oct 18, 2025
febc052
feat: Add baseline benchmark report for ACT policy
tc-huang Oct 18, 2025
631a55a
fix: Remove .item() call in act policy forward() to prevent torch.com…
tc-huang Oct 20, 2025
6b80007
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Oct 24, 2025
74dc747
fix: Correct reset logic in compiled inference test for ACTPolicy
tc-huang Oct 24, 2025
050dec4
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Oct 25, 2025
c88c939
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Oct 27, 2025
30600fc
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Nov 15, 2025
413112a
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Nov 19, 2025
d5a3190
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Nov 26, 2025
7c8ddcd
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Nov 27, 2025
89c2e68
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Dec 3, 2025
ece6768
fix: deepcopy policy before compile to avoid sharing objects
tc-huang Dec 3, 2025
0e5f4e3
feat: add fullgraph option for Torch.compile
tc-huang Dec 3, 2025
dee646e
feat: add command-line argument to control float32 matmul precision
tc-huang Dec 3, 2025
1c6f40b
feat: add argument to disable cuDNN TF32
tc-huang Dec 3, 2025
792b21b
feat: add argument to disable dropout layers
tc-huang Dec 3, 2025
dfb5951
fix: assign fullgraph attribute directly without conditional
tc-huang Dec 3, 2025
848878b
chore: remove redundant print in test_correctness
tc-huang Dec 3, 2025
4651041
feat: add configurable torch.compile support for ACTPolicy and benchmark
tc-huang Dec 5, 2025
b344f76
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Dec 5, 2025
0047655
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Dec 10, 2025
1994bbc
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Dec 12, 2025
ccebd12
chore: remove outdated Torch.compile benchmark report for ACT
tc-huang Dec 12, 2025
5496a42
docs: improve docstrings for compile_model and compile_mode in ACTConfig
tc-huang Dec 12, 2025
023c663
Merge branch 'main' into feat/policies-torch-compilable
tc-huang Dec 14, 2025
ef59821
Update benchmarks/policies_compilation/benchmark_inference_compile_le…
tc-huang Dec 28, 2025
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