From 043cc9180e00b9f32881f6a751c3f39300f15031 Mon Sep 17 00:00:00 2001 From: mshukor Date: Wed, 2 Apr 2025 16:03:22 +0200 Subject: [PATCH] cleaning --- lerobot/common/constants.py | 2 -- .../common/policies/pi0fast/configuration_pi0fast.py | 2 +- lerobot/common/policies/pi0fast/modeling_pi0fast.py | 11 ++--------- 3 files changed, 3 insertions(+), 12 deletions(-) diff --git a/lerobot/common/constants.py b/lerobot/common/constants.py index b69131fa..973595cd 100644 --- a/lerobot/common/constants.py +++ b/lerobot/common/constants.py @@ -22,8 +22,6 @@ OBS_ROBOT = "observation.state" OBS_IMAGE = "observation.image" OBS_IMAGES = "observation.images" ACTION = "action" -OBS_IMAGE_2 = "observation.image2" -OBS_IMAGE_3 = "observation.image3" # files & directories CHECKPOINTS_DIR = "checkpoints" diff --git a/lerobot/common/policies/pi0fast/configuration_pi0fast.py b/lerobot/common/policies/pi0fast/configuration_pi0fast.py index 90b5f332..29c856e0 100644 --- a/lerobot/common/policies/pi0fast/configuration_pi0fast.py +++ b/lerobot/common/policies/pi0fast/configuration_pi0fast.py @@ -81,7 +81,7 @@ class PI0FASTConfig(PreTrainedConfig): # Allows padding/truncation of generated action tokens during detokenization to ensure decoding. # In the original version, tensors of 0s were generated if shapes didn't match for stable decoding. - relaxed_decoding: bool = True + relaxed_action_decoding: bool = True def __post_init__(self): super().__post_init__() diff --git a/lerobot/common/policies/pi0fast/modeling_pi0fast.py b/lerobot/common/policies/pi0fast/modeling_pi0fast.py index dcc7f13d..f1c8a801 100644 --- a/lerobot/common/policies/pi0fast/modeling_pi0fast.py +++ b/lerobot/common/policies/pi0fast/modeling_pi0fast.py @@ -56,24 +56,17 @@ from transformers import AutoProcessor, AutoTokenizer, PaliGemmaForConditionalGe from transformers.cache_utils import HybridCache, StaticCache from transformers.models.auto import CONFIG_MAPPING -from lerobot.common.constants import ACTION, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3, OBS_ROBOT +from lerobot.common.constants import ACTION, OBS_ROBOT from lerobot.common.policies.normalize import Normalize, Unnormalize from lerobot.common.policies.pi0fast.configuration_pi0fast import PI0FASTConfig from lerobot.common.policies.pretrained import PreTrainedPolicy -IMAGES_ORDER = { - OBS_IMAGE: 0, - OBS_IMAGE_2: 1, - OBS_IMAGE_3: 2, -} - PRECISION = { "float16": torch.float16, "float32": torch.float32, "bfloat16": torch.bfloat16, } - def normalize(x, min_val, max_val): return (x - min_val) / (max_val - min_val) @@ -839,7 +832,7 @@ class PI0FAST(nn.Module): tok.tolist(), time_horizon=action_horizon, action_dim=action_dim, - relaxed_decoding=self.config.relaxed_decoding, + relaxed_decoding=self.config.relaxed_action_decoding, ), device=tokens.device, ).squeeze(0)