From b80e55ca44d95b049a1f989d27378fcd27cfc342 Mon Sep 17 00:00:00 2001 From: Yachen Kang Date: Wed, 5 Mar 2025 08:31:56 +0800 Subject: [PATCH] =?UTF-8?q?change=20"actions=5Fid=5Fpad"=20to=20"actions?= =?UTF-8?q?=5Fis=5Fpad"(=F0=9F=90=9B=20Bug)=20=20(#774)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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 c8b12caf..bc53bf85 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_id_pad") + actions_is_pad = batch.get("actions_is_pad") loss_dict = {} losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)