From 7f1a5c78ac3d122396232fbbbe13a6e66356909b Mon Sep 17 00:00:00 2001 From: AdilZouitine Date: Tue, 23 Sep 2025 18:21:45 +0200 Subject: [PATCH] update(pi05): increase tokenizer_max_length for improved processing - Changed the `tokenizer_max_length` from 48 to 200 to enhance the model's capability in handling longer sequences. - This adjustment aims to improve the overall performance and flexibility of the PI05 configuration. --- src/lerobot/policies/pi05/configuration_pi05openpi.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lerobot/policies/pi05/configuration_pi05openpi.py b/src/lerobot/policies/pi05/configuration_pi05openpi.py index 461296f7d..fcf0833eb 100644 --- a/src/lerobot/policies/pi05/configuration_pi05openpi.py +++ b/src/lerobot/policies/pi05/configuration_pi05openpi.py @@ -56,7 +56,7 @@ class PI05OpenPIConfig(PreTrainedConfig): # Add empty images. Used to add empty cameras when no image features are present. empty_cameras: int = 0 - tokenizer_max_length: int = 48 # pi0.5=48, see openpi `__post_init__` + tokenizer_max_length: int = 200 # pi0.5=48, see openpi `__post_init__` # Normalization normalization_mapping: dict[str, NormalizationMode] = field(