From a774af2eaba690a7a82f110e6f5c3f176ddf4286 Mon Sep 17 00:00:00 2001 From: Qizhi Chen Date: Tue, 25 Mar 2025 18:24:46 +0800 Subject: [PATCH] fix pi0 action padding name (#893) Co-authored-by: Steven Palma --- lerobot/common/policies/pi0/modeling_pi0.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/policies/pi0/modeling_pi0.py b/lerobot/common/policies/pi0/modeling_pi0.py index bc53bf85..7599fa63 100644 --- a/lerobot/common/policies/pi0/modeling_pi0.py +++ b/lerobot/common/policies/pi0/modeling_pi0.py @@ -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)