feat: enable BatchNorm2d in CNNEncoder and add AMP support

- Uncomment BatchNorm2d in CNNEncoder (activated when cfg.use_bn=True)
- Add torch.amp.GradScaler + autocast for mixed precision training
- Add --amp/--no-amp CLI argument (default: enabled)

Generated by Mistral Vibe. deepseek-v4-flash
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>

src/velocity_prediction/model.py

@@ -29,7 +29,7 @@ class CNNEncoder(nn.Module):
         for out_ch in channels:
             layers.extend([
                 nn.Conv2d(in_ch, out_ch, kernel_size=cfg.kernel_size, padding=cfg.kernel_size // 2),
-                # nn.BatchNorm2d(out_ch) if cfg.use_bn else nn.Identity(),
+                nn.BatchNorm2d(out_ch) if cfg.use_bn else nn.Identity(),
                 nn.Identity(),
                 nn.LeakyReLU(inplace=True),
                 nn.MaxPool2d(cfg.pool_size),

src/velocity_prediction/train.py

@@ -32,11 +32,13 @@ def train_one_epoch(
     loader,
     optimizer: torch.optim.Optimizer,
     criterion: nn.Module,
+    scaler: torch.cuda.amp.GradScaler,
     device: torch.device,
     epoch: int,
     writer: SummaryWriter,
     log_interval: int = 50,
     global_step: int = 0,
+    use_amp: bool = True,
 ) -> tuple[float, int]:
     """Train for one epoch. Returns (avg_loss, updated_global_step)."""
     model.train()
@@ -50,14 +52,15 @@ def train_one_epoch(
         target = batch["v_body_target"].to(device)   # (B, S, 2)
 
         # Predict velocity for the last frame in the sequence
+        with torch.amp.autocast(device.type, enabled=use_amp):
             pred = model(events, tilt)               # (B, 2)
             target_last = target[:, -1, :]           # (B, 2)
-
             loss = criterion(pred, target_last)
 
         optimizer.zero_grad()
-        loss.backward()
+        scaler.scale(loss).backward()
-        optimizer.step()
+        scaler.step(optimizer)
+        scaler.update()
 
         total_loss += loss.item()
         num_batches += 1
@@ -79,6 +82,7 @@ def validate(
     loader,
     criterion: nn.Module,
     device: torch.device,
+    use_amp: bool = True,
 ) -> float:
     """Validate. Returns average loss."""
     model.eval()
@@ -90,10 +94,11 @@ def validate(
         tilt = batch["tilt"].to(device)
         target = batch["v_body_target"].to(device)
 
+        with torch.amp.autocast(device.type, enabled=use_amp):
             pred = model(events, tilt)
             target_last = target[:, -1, :]
-
             loss = criterion(pred, target_last)
+
         total_loss += loss.item()
         num_batches += 1
 
@@ -107,7 +112,10 @@ def main():
                         help="CUDA device, e.g. 'cuda:0', 'cuda:1' (default: 'cuda')")
     parser.add_argument("--resume", type=str, default=None,
                         help="Path to checkpoint .pt file to resume training from")
+    parser.add_argument("--amp", action=argparse.BooleanOptionalAction, default=True,
+                        help="Enable Automatic Mixed Precision (default: True)")
     args = parser.parse_args()
+    use_amp = args.amp
 
     set_seed(train_cfg.seed)
     device = torch.device(args.device if torch.cuda.is_available() and "cuda" in args.device else "cpu")
@@ -116,8 +124,10 @@ def main():
     # Create model
     model = VelocityPredictionModel()
     model.to(device)
+    scaler = torch.amp.GradScaler(device.type, enabled=use_amp)
     total_params = count_parameters(model)
     print(f"Model parameters: {total_params:,} ({total_params/1e6:.3f} M)")
+    print(f"AMP: {'enabled' if use_amp else 'disabled'}")
 
     # Data loaders
     train_loader = create_train_loader(
@@ -196,11 +206,12 @@ def main():
         epoch_start = time.time()
 
         train_loss, global_step = train_one_epoch(
-            model, train_loader, optimizer, criterion, device, epoch, writer,
+            model, train_loader, optimizer, criterion, scaler, device, epoch, writer,
             log_interval=train_cfg.log_interval,
             global_step=global_step,
+            use_amp=use_amp,
         )
-        val_loss = validate(model, val_loader, criterion, device)
+        val_loss = validate(model, val_loader, criterion, device, use_amp=use_amp)
         scheduler.step()
 
         epoch_time = time.time() - epoch_start