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Function warmup

TextOpRobotMDAR/robotmdar/eval/loop_dar.py:79–116  ·  view source on GitHub ↗
(vae_trt, cfg_denoiser, diffusion, val_data, clip_model,
           history_motion, abs_pose, future_len, history_len, cfg)

Source from the content-addressed store, hash-verified

77
78
79def warmup(vae_trt, cfg_denoiser, diffusion, val_data, clip_model,
80 history_motion, abs_pose, future_len, history_len, cfg):
81 logger.info("Warming up...")
82 text_embedding = get_text_embedding("stand", clip_model, cfg.device)
83 future_motion, motion_dict, abs_pose = generate_next_motion(
84 vae=vae_trt,
85 denoiser=cfg_denoiser,
86 diffusion=diffusion,
87 val_data=val_data,
88 text_embedding=text_embedding,
89 history_motion=history_motion,
90 abs_pose=abs_pose,
91 future_len=future_len,
92 # cfg=cfg,
93 use_full_sample=cfg.use_full_sample,
94 guidance_scale=cfg.guidance_scale,
95 )
96 # 因为第一次和第二次, history_motion的stride内存布局不一样, 会重新触发编译
97
98 # print(f"First history_motion strides: {history_motion.stride()}")
99 # print(
100 # f"Second history_motion strides: {future_motion[:, -history_len:, :].stride()}"
101 # )
102 history_motion = future_motion[:, -history_len:, :]
103 future_motion, motion_dict, abs_pose = generate_next_motion(
104 vae=vae_trt,
105 denoiser=cfg_denoiser,
106 diffusion=diffusion,
107 val_data=val_data,
108 text_embedding=text_embedding,
109 history_motion=history_motion,
110 abs_pose=abs_pose,
111 future_len=future_len,
112 # cfg=cfg,
113 use_full_sample=cfg.use_full_sample,
114 guidance_scale=cfg.guidance_scale,
115 )
116 logger.info("Warming up done")
117
118
119@pdb_decorator

Callers

nothing calls this directly

Calls 2

generate_next_motionFunction · 0.90
get_text_embeddingFunction · 0.70

Tested by

no test coverage detected