整理代码

scripts/evaluation/world_model_interaction.py

@@ -752,13 +752,6 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
         if hasattr(model, "first_stage_model") and model.first_stage_model is not None:
             vae = model.first_stage_model
 
-            # Channels-last memory format: cuDNN uses faster NHWC kernels
-            if args.vae_channels_last:
-                vae = vae.to(memory_format=torch.channels_last)
-                vae._channels_last = True
-                model.first_stage_model = vae
-                print(">>> VAE converted to channels_last (NHWC) memory format")
-
             # torch.compile: fuses GroupNorm+SiLU, conv chains, etc.
             if args.vae_compile:
                 vae.decoder = torch.compile(vae.decoder, mode="reduce-overhead")
@@ -1173,12 +1166,6 @@ def get_parser():
         default=False,
         help="Apply torch.compile to VAE decoder for kernel fusion."
     )
-    parser.add_argument(
-        "--vae_channels_last",
-        action='store_true',
-        default=False,
-        help="Convert VAE to channels-last (NHWC) memory format for faster cuDNN convolutions."
-    )
     parser.add_argument(
         "--vae_decode_bs",
         type=int,

src/unifolm_wma/models/autoencoder.py

@@ -99,16 +99,12 @@ class AutoencoderKL(pl.LightningModule):
         print(f"Restored from {path}")
 
     def encode(self, x, **kwargs):
-        if getattr(self, '_channels_last', False):
-            x = x.to(memory_format=torch.channels_last)
         h = self.encoder(x)
         moments = self.quant_conv(h)
         posterior = DiagonalGaussianDistribution(moments)
         return posterior
 
     def decode(self, z, **kwargs):
-        if getattr(self, '_channels_last', False):
-            z = z.to(memory_format=torch.channels_last)
         z = self.post_quant_conv(z)
         dec = self.decoder(z)
         return dec

unitree_g1_pack_camera/case1/run_world_model_interaction.sh

@@ -24,6 +24,5 @@ dataset="unitree_g1_pack_camera"
         --diffusion_dtype bf16 \
         --projector_mode bf16_full \
         --encoder_mode bf16_full \
-        --vae_dtype bf16 \
-        --vae_channels_last     
+        --vae_dtype bf16
 } 2>&1 | tee "${res_dir}/output.log"