From 6db39cad58cc745929b91fd93c2f08ad951104b3 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Sat, 13 Sep 2025 14:43:09 +0200 Subject: [PATCH] temp: hardcode base model --- src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py | 2 +- src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py b/src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py index 2902f8216..03938e570 100644 --- a/src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py +++ b/src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py @@ -67,7 +67,7 @@ class PI05OpenPIConfig(PreTrainedConfig): device: str | None = None # Device to use for the model (None = auto-detect) # Pretrained model loading - pretrained_path: str | None = None # Path or repo_id to load pretrained weights from + pretrained_path: str | None = "pepijn223/pi0_base_fp32" # Path or repo_id to load pretrained weights from # Optimizer settings: see openpi `AdamW` and optimizer_lr: float = 2.5e-5 # see openpi `CosineDecaySchedule: peak_lr` diff --git a/src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py b/src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py index 52e587abe..1f8583849 100644 --- a/src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py +++ b/src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py @@ -64,7 +64,7 @@ class PI0OpenPIConfig(PreTrainedConfig): device: str | None = None # Device to use for the model (None = auto-detect) # Pretrained model loading - pretrained_path: str | None = None # Path or repo_id to load pretrained weights from + pretrained_path: str | None = "pepijn223/pi0_base_fp32" # Path or repo_id to load pretrained weights from # Optimizer settings: see openpi `AdamW` and optimizer_lr: float = 2.5e-5 # see openpi `CosineDecaySchedule: peak_lr`