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Update lerobot/common/policies/pi0fast/configuration_pi0fast.py 

Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
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mshukor 2025-04-02 15:58:51 +02:00 committed by GitHub
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lerobot/common/policies/pi0fast/configuration_pi0fast.py
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@ -79,6 +79,8 @@ class PI0FASTConfig(PreTrainedConfig):
precision: str = "bfloat16"
grad_clip_norm: float = 1
# 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
def __post_init__(self):