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Jade Choghari
2026-02-02 09:04:55 +00:00
parent 6380c0d0dd
commit 092f4617ca
1 changed files with 1 additions and 1 deletions
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src/lerobot/policies/pi05_full/modeling_pi05.py
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@@ -1117,7 +1117,7 @@ class PI05Pytorch(nn.Module): # see openpi `PI0Pytorch`
"flow_mse_loss": flow_loss.mean(), "flow_mse_loss": flow_loss.mean(),
"action_ce_loss": fast_loss.mean(), "action_ce_loss": fast_loss.mean(),
"subtask_ce_loss": subtask_loss, "subtask_ce_loss": subtask_loss,
"loss": flow_loss.mean() + 0.1 * subtask_loss.mean() + 0.05 * fast_loss.mean(), # TODO: jadechoghari: check weights "loss": flow_loss.mean() + subtask_loss.mean() + fast_loss.mean(), # TODO: jadechoghari: check weights
} }
@torch.no_grad() # see openpi `sample_actions` (slightly adapted) @torch.no_grad() # see openpi `sample_actions` (slightly adapted)