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cleanup from pretrained

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Pepijn
2025-09-29 15:26:02 +02:00
parent 8de5280fd3
commit 4dcfc4cda9
2 changed files with 11 additions and 17 deletions
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src/lerobot/policies/pi0/modeling_pi0.py
+5 -9
View File
@@ -894,9 +894,9 @@ class PI0Policy(PreTrainedPolicy):
) -> T: ) -> T:
"""Override the from_pretrained method to handle key remapping and display important disclaimer.""" """Override the from_pretrained method to handle key remapping and display important disclaimer."""
print( print(
"⚠️ DISCLAIMER: The PI0 model is a direct PyTorch port of the OpenPI implementation. \n" "The PI05 model is a direct port of the OpenPI implementation. \n"
" This implementation follows the original OpenPI structure for compatibility. \n" "This implementation follows the original OpenPI structure for compatibility. \n"
" Original implementation: https://github.com/Physical-Intelligence/openpi" "Original implementation: https://github.com/Physical-Intelligence/openpi"
) )
if pretrained_name_or_path is None: if pretrained_name_or_path is None:
raise ValueError("pretrained_name_or_path is required") raise ValueError("pretrained_name_or_path is required")
@@ -959,15 +959,11 @@ class PI0Policy(PreTrainedPolicy):
new_key = f"model.{key}" new_key = f"model.{key}"
remapped_state_dict[new_key] = value remapped_state_dict[new_key] = value
remap_count += 1 remap_count += 1
if remap_count <= 10: # Only print first 10 to avoid spam
print(f"Remapped: {key} -> {new_key}")
else: else:
remapped_state_dict[key] = value remapped_state_dict[key] = value
if remap_count > 10: if remap_count > 0:
print(f"... and {remap_count - 10} more keys remapped") print(f"Remapped {remap_count} state dict keys")
print(f"Total keys remapped: {remap_count}")
# Load the remapped state dict into the model # Load the remapped state dict into the model
missing_keys, unexpected_keys = model.load_state_dict(remapped_state_dict, strict=strict) missing_keys, unexpected_keys = model.load_state_dict(remapped_state_dict, strict=strict)
src/lerobot/policies/pi05/modeling_pi05.py
+6 -8
View File
@@ -867,9 +867,9 @@ class PI05Policy(PreTrainedPolicy):
) -> T: ) -> T:
"""Override the from_pretrained method to handle key remapping and display important disclaimer.""" """Override the from_pretrained method to handle key remapping and display important disclaimer."""
print( print(
"⚠️ DISCLAIMER: The PI05 model is a direct PyTorch port of the OpenPI implementation. \n" "The PI05 model is a direct port of the OpenPI implementation. \n"
" This implementation follows the original OpenPI structure for compatibility. \n" "This implementation follows the original OpenPI structure for compatibility. \n"
" Original implementation: https://github.com/Physical-Intelligence/openpi" "Original implementation: https://github.com/Physical-Intelligence/openpi"
) )
if pretrained_name_or_path is None: if pretrained_name_or_path is None:
raise ValueError("pretrained_name_or_path is required") raise ValueError("pretrained_name_or_path is required")
@@ -878,7 +878,7 @@ class PI05Policy(PreTrainedPolicy):
if config is None: if config is None:
config = PreTrainedConfig.from_pretrained( config = PreTrainedConfig.from_pretrained(
pretrained_name_or_path=pretrained_name_or_path, pretrained_name_or_path=pretrained_name_or_path,
force_download=force_download, force_download=force_download,s
resume_download=resume_download, resume_download=resume_download,
proxies=proxies, proxies=proxies,
token=token, token=token,
@@ -937,10 +937,8 @@ class PI05Policy(PreTrainedPolicy):
else: else:
remapped_state_dict[key] = value remapped_state_dict[key] = value
if remap_count > 10: if remap_count > 0:
print(f"... and {remap_count - 10} more keys remapped") print(f"Remapped {remap_count} state dict keys")
print(f"Total keys remapped: {remap_count}")
# Load the remapped state dict into the model # Load the remapped state dict into the model
missing_keys, unexpected_keys = model.load_state_dict(remapped_state_dict, strict=strict) missing_keys, unexpected_keys = model.load_state_dict(remapped_state_dict, strict=strict)