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refactor(rtc): share Pi05 training helpers

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Pepijn
2026-07-17 17:41:20 +02:00
parent d9c05b76aa
commit 12740f6be0
5 changed files with 7 additions and 49 deletions
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tests/policies/common/test_vla_utils.py
+2 -2
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@@ -56,8 +56,8 @@ def test_create_sinusoidal_pos_embedding_matches_openpi_formula():
def test_create_sinusoidal_pos_embedding_validation():
with pytest.raises(ValueError, match="divisible by 2"):
create_sinusoidal_pos_embedding(torch.zeros(2), 7, 4e-3, 4.0, device=torch.device("cpu"))
with pytest.raises(ValueError, match="batch_size"):
create_sinusoidal_pos_embedding(torch.zeros(2, 2), 8, 4e-3, 4.0, device=torch.device("cpu"))
with pytest.raises(ValueError, match="must have shape"):
create_sinusoidal_pos_embedding(torch.zeros(2, 2, 2), 8, 4e-3, 4.0, device=torch.device("cpu"))
def test_make_att_2d_masks_docstring_cases():
tests/policies/pi052/test_pi052_training_time_rtc.py
+1 -1
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@@ -16,13 +16,13 @@ from torch import nn
pytest.importorskip("transformers")
from lerobot.policies.pi05.modeling_pi05 import ( # noqa: E402
_build_flow_matching_inputs,
_prepare_trained_rtc_prefix,
create_sinusoidal_pos_embedding,
)
from lerobot.policies.pi052.configuration_pi052 import PI052Config # noqa: E402
from lerobot.policies.pi052.modeling_pi052 import ( # noqa: E402
PI05Pytorch as PI052Pytorch,
_build_flow_matching_inputs,
_flow_loss_per_sample,
_reduce_flow_loss,
)