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fix(vqbet): use in-place fill_ to avoid overwriting DDP GPU buffers with CPU tensors #3128

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fix(vqbet): use in-place fill_ to avoid overwriting DDP GPU buffers with CPU tensors #3128

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3be2781
fix(vqbet): use in-place fill_ to avoid overwriting DDP GPU buffers w…
Mar 11, 2026
84ef32f
test(vqbet): add regression test for in-place buffer update during di…
Mar 11, 2026
3e74e98
test(vqbet): add GPU regression test to verify buffers stay on CUDA a…
Mar 11, 2026
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4 changes: 2 additions & 2 deletions src/lerobot/policies/vqbet/modeling_vqbet.py
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Expand Up @@ -467,8 +467,8 @@ def discretize(self, n_vqvae_training_steps, actions):
self.vqvae_model.optimized_steps += 1
# if we updated RVQ more than `n_vqvae_training_steps` steps, we freeze the RVQ part.
if self.vqvae_model.optimized_steps >= n_vqvae_training_steps:
self.vqvae_model.discretized = torch.tensor(True)
self.vqvae_model.vq_layer.freeze_codebook = torch.tensor(True)
self.vqvae_model.discretized.fill_(True)
self.vqvae_model.vq_layer.freeze_codebook.fill_(True)
print("Finished discretizing action data!")
self.vqvae_model.eval()
for param in self.vqvae_model.vq_layer.parameters():
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