轻量投影/MLP BF16 微调

调整了一些参数默认值

scripts/evaluation/world_model_interaction.py

@@ -912,6 +912,10 @@ def run_inference(args: argparse.Namespace, gpu_num: int, gpu_no: int) -> None:
         diffusion_autocast_dtype = torch.bfloat16
         print(">>> diffusion backbone set to bfloat16")
 
+    if hasattr(model, "projector_bf16"):
+        model.projector_bf16 = args.projector_dtype == "bf16"
+        print(f">>> projector dtype set to {args.projector_dtype}")
+
     log_inference_precision(model)
 
     profiler.record_memory("after_model_load")
@@ -1255,6 +1259,13 @@ def get_parser():
         default="fp32",
         help="Dtype for diffusion backbone weights and sampling autocast."
     )
+    parser.add_argument(
+        "--projector_dtype",
+        type=str,
+        choices=["fp32", "bf16"],
+        default="fp32",
+        help="Dtype for image/state/action projectors (autocast in forward)."
+    )
     parser.add_argument(
         "--n_action_steps",
         type=int,