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Remove previous pi0 and rename pi0_openpi and pi05_openpi

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Pepijn
2025-09-22 17:11:29 +02:00
parent 83ed49d9b9
commit 5d9acf9d51
41 changed files with 54 additions and 2813 deletions
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tests/policies/pi0_pi05/test_pi0_pi05_hub.py
+9 -9
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@@ -18,8 +18,8 @@ pytestmark = pytest.mark.skipif(
reason="This test requires HuggingFace authentication and is not meant for CI",
)
from lerobot.policies.pi0_openpi import PI0OpenPIPolicy # noqa: E402
from lerobot.policies.pi05_openpi.modeling_pi05openpi import PI05OpenPIPolicy # noqa: E402
from lerobot.policies.pi0 import PI0Policy # noqa: E402
from lerobot.policies.pi05.modeling_pi05openpi import PI05Policy # noqa: E402
def create_dummy_stats(config):
@@ -48,13 +48,13 @@ def create_dummy_stats(config):
# Test data for all 6 base models
MODEL_TEST_PARAMS = [
# PI0 models
("pepijn223/pi0_base_fp32", "PI0", PI0OpenPIPolicy),
("pepijn223/pi0_droid_fp32", "PI0", PI0OpenPIPolicy),
("pepijn223/pi0_libero_fp32", "PI0", PI0OpenPIPolicy),
("pepijn223/pi0_base_fp32", "PI0", PI0Policy),
("pepijn223/pi0_droid_fp32", "PI0", PI0Policy),
("pepijn223/pi0_libero_fp32", "PI0", PI0Policy),
# PI0.5 models
("pepijn223/pi05_base_fp32", "PI0.5", PI05OpenPIPolicy),
("pepijn223/pi05_droid_fp32", "PI0.5", PI05OpenPIPolicy),
("pepijn223/pi05_libero_fp32", "PI0.5", PI05OpenPIPolicy),
("pepijn223/pi05_base_fp32", "PI0.5", PI05Policy),
("pepijn223/pi05_droid_fp32", "PI0.5", PI05Policy),
("pepijn223/pi05_libero_fp32", "PI0.5", PI05Policy),
]
@@ -65,7 +65,7 @@ def test_all_base_models_hub_loading(model_id, model_type, policy_class):
Args:
model_id: HuggingFace model ID (e.g., "pepijn223/pi0_base_fp32")
model_type: Model type ("PI0" or "PI0.5")
policy_class: Policy class to use (PI0OpenPIPolicy or PI05OpenPIPolicy)
policy_class: Policy class to use (PI0Policy or PI05Policy)
"""
print(f"\n{'=' * 80}")
print(f"Testing {model_type} model: {model_id}")