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fix(pi052): build processors from current config

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When fine-tuning from pi05_base, reuse only the pretrained weights so pi052 still generates recipe text labels and FAST action labels.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
pepijn
2026-05-21 13:54:29 +00:00
parent 36f828221c
commit 2ca030fa28
1 changed files with 7 additions and 0 deletions
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src/lerobot/scripts/lerobot_train.py
+7
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@@ -455,6 +455,13 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
accelerator.wait_for_everyone()
processor_pretrained_path = cfg.policy.pretrained_path
if cfg.policy.type == "pi052" and processor_pretrained_path is not None and not cfg.resume:
logging.warning(
"pi052 is loading pretrained weights from %s, but building processors from the current "
"pi052 config so recipe text labels and FAST action labels are generated.",
processor_pretrained_path,
)
processor_pretrained_path = None
if (
getattr(cfg.policy, "use_relative_actions", False)
and processor_pretrained_path is not None