From 675880392d30ebd4d40aca4a1c50037bd679da00 Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Fri, 7 Nov 2025 19:56:27 +0700 Subject: [PATCH] Turn off compilation for pi0/pi05 --- examples/rtc/eval_dataset.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/examples/rtc/eval_dataset.py b/examples/rtc/eval_dataset.py index 43163154d..87eb135c3 100644 --- a/examples/rtc/eval_dataset.py +++ b/examples/rtc/eval_dataset.py @@ -256,7 +256,9 @@ class RTCEvaluator: # Load policy from pretrained policy_class = get_policy_class(self.cfg.policy.type) - policy = policy_class.from_pretrained(self.cfg.policy.pretrained_path) + + config = PreTrainedConfig.from_pretrained(self.cfg.policy.pretrained_path) + policy = policy_class.from_pretrained(self.cfg.policy.pretrained_path, config=config) policy = policy.to(self.device) policy.eval() @@ -292,6 +294,11 @@ class RTCEvaluator: Returns: Policy with compiled predict_action_chunk method """ + + # PI models handle their own compilation + if policy.type == "pi05" or policy.type == "pi0": + return policy + try: # Check if torch.compile is available (PyTorch 2.0+) if not hasattr(torch, "compile"):