From 2ca030fa2862c1168ab9578cb9e5d3a080eac0ee Mon Sep 17 00:00:00 2001 From: pepijn Date: Thu, 21 May 2026 13:54:29 +0000 Subject: [PATCH] fix(pi052): build processors from current config 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 --- src/lerobot/scripts/lerobot_train.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py index 9b9cf659e..dfdac8370 100644 --- a/src/lerobot/scripts/lerobot_train.py +++ b/src/lerobot/scripts/lerobot_train.py @@ -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