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fix pi0 action padding name (#893) 

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
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Qizhi Chen 2025-03-25 18:24:46 +08:00 committed by GitHub
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lerobot/common/policies/pi0/modeling_pi0.py
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@ -313,7 +313,7 @@ class PI0Policy(PreTrainedPolicy):
state = self.prepare_state(batch) state = self.prepare_state(batch)
lang_tokens, lang_masks = self.prepare_language(batch) lang_tokens, lang_masks = self.prepare_language(batch)
actions = self.prepare_action(batch) actions = self.prepare_action(batch)
actions_is_pad = batch.get("actions_is_pad") actions_is_pad = batch.get("action_is_pad")
loss_dict = {} loss_dict = {}
losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time) losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)