From 704e84c0550f70eea79c1fcb58109212e43a3c1f Mon Sep 17 00:00:00 2001 From: mshukor Date: Wed, 2 Apr 2025 15:58:51 +0200 Subject: [PATCH] Update lerobot/common/policies/pi0fast/configuration_pi0fast.py Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com> --- lerobot/common/policies/pi0fast/configuration_pi0fast.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/lerobot/common/policies/pi0fast/configuration_pi0fast.py b/lerobot/common/policies/pi0fast/configuration_pi0fast.py index ecaaa2cb..8f8943ab 100644 --- a/lerobot/common/policies/pi0fast/configuration_pi0fast.py +++ b/lerobot/common/policies/pi0fast/configuration_pi0fast.py @@ -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):