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loss naming

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Jade Choghari
2026-01-14 14:53:18 +00:00
parent 72b0af4ed7
commit 83276eeb2f
1 changed files with 2 additions and 2 deletions
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src/lerobot/policies/pi05_full/modeling_pi05.py
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@@ -1009,7 +1009,7 @@ class PI05Pytorch(nn.Module): # see openpi `PI0Pytorch`
flow_loss = F.mse_loss(u_t, v_t, reduction="none") flow_loss = F.mse_loss(u_t, v_t, reduction="none")
return { return {
"flow_loss": flow_loss.mean(), "flow_mse_loss": flow_loss.mean(),
"action_ce_loss": fast_loss.mean(), "action_ce_loss": fast_loss.mean(),
"subtask_ce_loss": subtask_loss, "subtask_ce_loss": subtask_loss,
"loss": flow_loss.mean() + 0.1 * subtask_loss.mean() + 0.05 * fast_loss.mean(), # TODO: jadechoghari: check weights "loss": flow_loss.mean() + 0.1 * subtask_loss.mean() + 0.05 * fast_loss.mean(), # TODO: jadechoghari: check weights
@@ -1501,7 +1501,7 @@ class PI05FullPolicy(PreTrainedPolicy):
# Prepare detailed loss dictionary for logging # Prepare detailed loss dictionary for logging
detailed_loss_dict = { detailed_loss_dict = {
"loss": loss.item(), "loss": loss.item(),
"flow_loss": loss_dict["flow_loss"].mean().item(), "flow_mse_loss": loss_dict["flow_loss"].mean().item(),
"subtask_ce_loss": loss_dict["subtask_ce_loss"].item(), "subtask_ce_loss": loss_dict["subtask_ce_loss"].item(),
"action_ce_loss": loss_dict["action_ce_loss"].item(), "action_ce_loss": loss_dict["action_ce_loss"].item(),
} }