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Support for PI0+FAST (#921)

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Dana Aubakirova <118912928+danaaubakirova@users.noreply.github.com>
Co-authored-by: Remi <re.cadene@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
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mshukor
2025-04-04 11:51:11 +02:00
committed by GitHub
parent 145fe4cd17
commit 1c873df5c0
7 changed files with 1163 additions and 4 deletions
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lerobot/common/policies/tdmpc/modeling_tdmpc.py
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@@ -122,7 +122,7 @@ class TDMPCPolicy(PreTrainedPolicy):
# When the action queue is depleted, populate it again by querying the policy.
if len(self._queues["action"]) == 0:
batch = {key: torch.stack(list(self._queues[key]), dim=1) for key in batch}
batch = {key: torch.stack(list(self._queues[key]), dim=1) for key in batch if key in self._queues}
# Remove the time dimensions as it is not handled yet.
for key in batch: