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refactor(pi052): always suppress <loc> in runtime text gen

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Drop LOC_SUPPRESS_KINDS. With interactive VQA gone, every runtime text
kind (subtask / memory / interjection) is prose that must never emit
PaliGemma <loc> tokens, so suppress unconditionally. No behavior change:
the only non-suppressed kind (plan) is never generated by the runtime.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-07-02 15:45:32 +02:00
parent edc3a5eb4f
commit 06cbf1e8cb
1 changed files with 1 additions and 6 deletions
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src/lerobot/policies/pi052/inference/pi052_adapter.py
+1 -6
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@@ -36,11 +36,6 @@ _LOC_TOKENIZER_CACHE: dict[str, Any] = {}
class PI052PolicyAdapter(BaseLanguageAdapter): class PI052PolicyAdapter(BaseLanguageAdapter):
"""Runtime bridge for PI052 policies.""" """Runtime bridge for PI052 policies."""
# PaliGemma's ``<locDDDD>`` prior dominates the first token on a small
# text-CE budget; suppress it for prose kinds (VQA would keep it, but
# the runtime no longer does interactive VQA).
LOC_SUPPRESS_KINDS = frozenset({"subtask", "memory", "interjection"})
def select_action(self, observation: dict[str, Any], state: RuntimeState) -> Any: def select_action(self, observation: dict[str, Any], state: RuntimeState) -> Any:
subtask = state.language_context.get("subtask") or state.task or "" subtask = state.language_context.get("subtask") or state.task or ""
text_batch = _build_text_batch( text_batch = _build_text_batch(
@@ -72,7 +67,7 @@ class PI052PolicyAdapter(BaseLanguageAdapter):
min_new_tokens=self.gen.min_new_tokens, min_new_tokens=self.gen.min_new_tokens,
temperature=self.gen.temperature, temperature=self.gen.temperature,
top_p=self.gen.top_p, top_p=self.gen.top_p,
suppress_loc_tokens=kind in self.LOC_SUPPRESS_KINDS, suppress_loc_tokens=True, # all runtime text is prose; never emit <loc>
) )
def build_messages( def build_messages(