wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix pi0 action padding name (#893) 

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Qizhi Chen 2025-03-25 18:24:46 +08:00 committed by GitHub
parent 725b446ad6
commit a774af2eab
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
lerobot/common/policies/pi0/modeling_pi0.py
View File

@ -313,7 +313,7 @@ class PI0Policy(PreTrainedPolicy):
state = self.prepare_state(batch)
lang_tokens, lang_masks = self.prepare_language(batch)
actions = self.prepare_action(batch)
actions_is_pad = batch.get("actions_is_pad")
actions_is_pad = batch.get("action_is_pad")
loss_dict = {}
losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)