From 6bd23541d6bbe274f8ba6b5aac779868eb08be77 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Wed, 24 Sep 2025 11:33:24 +0200 Subject: [PATCH] renaming --- docs/source/libero.mdx | 1 - src/lerobot/policies/pi0/configuration_pi0.py | 2 +- src/lerobot/policies/pi0/modeling_pi0.py | 2 +- src/lerobot/policies/pi05/modeling_pi05.py | 4 ++-- tests/policies/pi0_pi05/test_pi05_openpi.py | 2 +- tests/policies/pi0_pi05/test_pi0_openpi.py | 8 ++++---- tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py | 2 +- tests/policies/pi0_pi05/test_pi0_pi05_hub.py | 2 +- 8 files changed, 11 insertions(+), 12 deletions(-) diff --git a/docs/source/libero.mdx b/docs/source/libero.mdx index 3ff795be0..2efb9d1b0 100644 --- a/docs/source/libero.mdx +++ b/docs/source/libero.mdx @@ -144,7 +144,6 @@ python src/lerobot/scripts/eval.py \ --eval.batch_size=1 \ --eval.n_episodes=5 \ --policy.path=pepijn223/pi0_libero_fp32 \ - --env.multitask_eval=true \ --output_dir=./eval_logs/ \ --policy.compile_model=false \ --policy.gradient_checkpointing=false \ diff --git a/src/lerobot/policies/pi0/configuration_pi0.py b/src/lerobot/policies/pi0/configuration_pi0.py index 7402b2b89..b7f19eef6 100644 --- a/src/lerobot/policies/pi0/configuration_pi0.py +++ b/src/lerobot/policies/pi0/configuration_pi0.py @@ -24,7 +24,7 @@ from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig @PreTrainedConfig.register_subclass("pi0") @dataclass -class PI0OpenPIConfig(PreTrainedConfig): +class PI0Config(PreTrainedConfig): # Model architecture paligemma_variant: str = "gemma_2b" action_expert_variant: str = "gemma_300m" diff --git a/src/lerobot/policies/pi0/modeling_pi0.py b/src/lerobot/policies/pi0/modeling_pi0.py index 58f1bf893..f65317b33 100644 --- a/src/lerobot/policies/pi0/modeling_pi0.py +++ b/src/lerobot/policies/pi0/modeling_pi0.py @@ -900,7 +900,7 @@ class PI0Policy(PreTrainedPolicy): ) -> T: """Override the from_pretrained method to handle key remapping and display important disclaimer.""" print( - "⚠️ DISCLAIMER: The PI0OpenPI model is a direct PyTorch port of the OpenPI implementation. \n" + "⚠️ DISCLAIMER: The PI0 model is a direct PyTorch port of the OpenPI implementation. \n" " This implementation follows the original OpenPI structure for compatibility. \n" " Original implementation: https://github.com/Physical-Intelligence/openpi" ) diff --git a/src/lerobot/policies/pi05/modeling_pi05.py b/src/lerobot/policies/pi05/modeling_pi05.py index 8fa738f03..8d99f60f4 100644 --- a/src/lerobot/policies/pi05/modeling_pi05.py +++ b/src/lerobot/policies/pi05/modeling_pi05.py @@ -34,7 +34,7 @@ from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditi from lerobot.configs.policies import PreTrainedConfig from lerobot.constants import ACTION, OBS_STATE from lerobot.policies.normalize import Normalize, Unnormalize -from lerobot.policies.pi05.configuration_pi05openpi import PI05Config +from lerobot.policies.pi05.configuration_pi05 import PI05Config from lerobot.policies.pretrained import PreTrainedPolicy, T @@ -874,7 +874,7 @@ class PI05Policy(PreTrainedPolicy): ) -> T: """Override the from_pretrained method to handle key remapping and display important disclaimer.""" print( - "⚠️ DISCLAIMER: The PI05OpenPI model is a direct PyTorch port of the OpenPI implementation. \n" + "⚠️ DISCLAIMER: The PI05 model is a direct PyTorch port of the OpenPI implementation. \n" " This implementation follows the original OpenPI structure for compatibility. \n" " Original implementation: https://github.com/Physical-Intelligence/openpi" ) diff --git a/tests/policies/pi0_pi05/test_pi05_openpi.py b/tests/policies/pi0_pi05/test_pi05_openpi.py index 26e9bd948..b19a65c30 100644 --- a/tests/policies/pi0_pi05/test_pi05_openpi.py +++ b/tests/policies/pi0_pi05/test_pi05_openpi.py @@ -1,6 +1,6 @@ #!/usr/bin/env python -"""Test script to verify PI0.5 (pi05) support in PI0OpenPI policy, only meant to be run locally!""" +"""Test script to verify PI0.5 (pi05) support in PI0 policy, only meant to be run locally!""" import os diff --git a/tests/policies/pi0_pi05/test_pi0_openpi.py b/tests/policies/pi0_pi05/test_pi0_openpi.py index 472f143de..b76c8055a 100644 --- a/tests/policies/pi0_pi05/test_pi0_openpi.py +++ b/tests/policies/pi0_pi05/test_pi0_openpi.py @@ -1,6 +1,6 @@ #!/usr/bin/env python -"""Test script to verify PI0OpenPI policy integration with LeRobot, only meant to be run locally!""" +"""Test script to verify PI0 policy integration with LeRobot, only meant to be run locally!""" import os @@ -14,14 +14,14 @@ pytestmark = pytest.mark.skipif( ) from lerobot.policies.factory import make_policy_config # noqa: E402 -from lerobot.policies.pi0 import PI0OpenPIConfig, PI0OpenPIPolicy # noqa: E402 +from lerobot.policies.pi0 import PI0Config, PI0Policy # noqa: E402 from tests.utils import require_cuda # noqa: E402 @require_cuda def test_policy_instantiation(): # Create config - config = PI0OpenPIConfig(max_action_dim=7, max_state_dim=14, dtype="float32") + config = PI0Config(max_action_dim=7, max_state_dim=14, dtype="float32") # Set up input_features and output_features in the config from lerobot.configs.types import FeatureType, PolicyFeature @@ -61,7 +61,7 @@ def test_policy_instantiation(): } # Instantiate policy - policy = PI0OpenPIPolicy(config, dataset_stats) + policy = PI0Policy(config, dataset_stats) # Test forward pass with dummy data batch_size = 1 diff --git a/tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py b/tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py index 47a2ddeab..3daf4af6a 100644 --- a/tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py +++ b/tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py @@ -1,4 +1,4 @@ -"""Test script to verify PI0OpenPI policy integration with LeRobot vs the original implementation, only meant to be run locally!""" +"""Test script to verify PI0 policy integration with LeRobot vs the original implementation, only meant to be run locally!""" import os diff --git a/tests/policies/pi0_pi05/test_pi0_pi05_hub.py b/tests/policies/pi0_pi05/test_pi0_pi05_hub.py index 63125e871..d88f29f4a 100644 --- a/tests/policies/pi0_pi05/test_pi0_pi05_hub.py +++ b/tests/policies/pi0_pi05/test_pi0_pi05_hub.py @@ -2,7 +2,7 @@ # TODO(pepijn): Remove these tests before merging -"""Test script to load PI0OpenPI model from HuggingFace hub and run inference.""" +"""Test script to load PI0 model from HuggingFace hub and run inference.""" import os