admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-16 14:32:03 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(pi052): default flow loss weight to ten

Browse Source
This commit is contained in:
Pepijn
2026-07-15 15:05:13 +02:00
parent 0a7b21cdd0
commit 6a89c7be45
2 changed files with 3 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/pi052.mdx
+1 -1
View File
@@ -111,7 +111,7 @@ the expected prompt, text target, and action endpoints before scaling up.
| -------------------------------- | -------------------------: | ------------------------------------------------------------------ |
| `policy.recipe_path` | `recipes/subtask_mem.yaml` | Selects the language/action objective mixture |
| `policy.text_loss_weight` | `1.0` | Language-head cross-entropy weight; `0` disables text training |
| `policy.flow_loss_weight` | `5.0` | Continuous action flow-loss weight |
| `policy.flow_loss_weight` | `10.0` | Continuous action flow-loss weight |
| `policy.enable_fast_action_loss` | `true` | Adds discrete FAST action-token supervision |
| `policy.fast_action_loss_weight` | `1.0` | FAST cross-entropy weight |
| `policy.knowledge_insulation` | `true` | Blocks action-loss gradients through the VLM K/V path |