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Pepijn
2025-09-10 20:03:14 +02:00
parent 9ea8bd029c
commit 8178a06b90
1 changed files with 3 additions and 1 deletions
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src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py
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@@ -22,9 +22,11 @@ from typing import Literal
import torch import torch
import torch.nn.functional as F # noqa: N812 import torch.nn.functional as F # noqa: N812
from torch import Tensor, nn from torch import Tensor, nn
from transformers import AutoTokenizer, GemmaForCausalLM, PaliGemmaForConditionalGeneration from transformers import AutoTokenizer
from transformers.models.auto import CONFIG_MAPPING from transformers.models.auto import CONFIG_MAPPING
from transformers.models.gemma import modeling_gemma from transformers.models.gemma import modeling_gemma
from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
from lerobot.constants import ACTION, OBS_STATE from lerobot.constants import ACTION, OBS_STATE
from lerobot.policies.normalize import Normalize, Unnormalize from lerobot.policies.normalize import Normalize, Unnormalize