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change default to 256 latent video

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This commit is contained in:
Jade Choghari
2026-01-25 19:48:54 +01:00
parent 9c14524470
commit 18bba97cd6
1 changed files with 1 additions and 1 deletions
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src/lerobot/policies/videovla/configuration_pi05.py
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@@ -47,7 +47,7 @@ class PI05VideoConfig(PreTrainedConfig):
# Which camera to use for video encoding (None = first camera, or specify key like "observation.images.top")
video_encoder_camera_key: str | None = None
# Perceiver Resampler settings to reduce video tokens (4096 -> video_num_latents)
video_num_latents: int = 128 # Number of latent tokens for video resampler
video_num_latents: int = 256 # Number of latent tokens for video resampler
video_resampler_num_heads: int = 8 # Number of attention heads in resampler
# Shorter state and action vectors will be padded to these dimensions