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Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

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Simon Alibert
2025-03-25 16:25:47 +01:00
parent aed85241b7 2c22f7d76d
commit 5130b69ece
10 changed files with 4 additions and 47 deletions
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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)
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)