renaming

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 \

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"

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"
         )

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"
         )

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
 

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

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
 

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