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fixup! fixup! Add tests for flow matching models with RTC

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This commit is contained in:
Eugene Mironov
2025-11-11 22:37:34 +07:00
parent a14e8a65cd
commit 691503d099
1 changed files with 4 additions and 4 deletions
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src/lerobot/policies/pi0/modeling_pi0.py
+4 -4
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@@ -916,8 +916,8 @@ class PI0Policy(PreTrainedPolicy):
self.config = config self.config = config
# Initialize the core PI0 model # Initialize the core PI0 model
self.model = PI0Pytorch(config, rtc_processor=self.rtc_processor)
self.init_rtc_processor() self.init_rtc_processor()
self.model = PI0Pytorch(config, rtc_processor=self.rtc_processor)
# Enable gradient checkpointing if requested # Enable gradient checkpointing if requested
if config.gradient_checkpointing: if config.gradient_checkpointing:
@@ -1116,9 +1116,9 @@ class PI0Policy(PreTrainedPolicy):
if self.config.rtc_config is not None: if self.config.rtc_config is not None:
self.rtc_processor = RTCProcessor(self.config.rtc_config) self.rtc_processor = RTCProcessor(self.config.rtc_config)
# Set rtc_processor to the model if it exists model_value = getattr(self, "model", None)
if self.model is not None: if model_value is not None:
self.model.rtc_processor = self.rtc_processor model_value.rtc_processor = self.rtc_processor
def _rtc_enabled(self) -> bool: def _rtc_enabled(self) -> bool:
return self.config.rtc_config is not None and self.config.rtc_config.enabled return self.config.rtc_config is not None and self.config.rtc_config.enabled