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Merge branch 'main' into feature/add-multitask-dit

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Bryson Jones
2025-12-23 15:06:41 -08:00
committed by GitHub
parent 3e5f31e0be ff271e8b51
commit 2a3444a8dd
4 changed files with 44 additions and 6 deletions
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src/lerobot/policies/pi0/modeling_pi0.py
+4 -3
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@@ -93,10 +93,11 @@ def create_sinusoidal_pos_embedding( # see openpi `create_sinusoidal_pos_embedd
def sample_beta(alpha, beta, bsize, device): # see openpi `sample_beta` (exact copy)
alpha_t = torch.as_tensor(alpha, dtype=torch.float32, device=device)
beta_t = torch.as_tensor(beta, dtype=torch.float32, device=device)
# Beta sampling uses _sample_dirichlet which isn't implemented for MPS, so sample on CPU
alpha_t = torch.tensor(alpha, dtype=torch.float32)
beta_t = torch.tensor(beta, dtype=torch.float32)
dist = torch.distributions.Beta(alpha_t, beta_t)
return dist.sample((bsize,))
return dist.sample((bsize,)).to(device)
def make_att_2d_masks(pad_masks, att_masks): # see openpi `make_att_2d_masks` (exact copy)