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remove warning in config

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Pepijn
2025-09-11 10:37:56 +02:00
parent f613a37cd2
commit 8d1434c069
2 changed files with 0 additions and 74 deletions
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src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py
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@@ -20,43 +20,6 @@ from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.optim.optimizers import AdamWConfig
from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
# ### ⚠️ WARNING ⚠️ ###
# This project requires patching the Hugging Face `transformers` library.
#
# 1. Make sure you have the exact version installed:
# pip show transformers
# It must be version 4.53.2.
#
# 2. Apply the custom patches by copying the modified files into your conda environment (make sure your environment is activated!)
# cp -r ./src/lerobot/policies/pi0_openpi/transformers_replace/* $(python -c "import transformers, os; print(os.path.dirname(transformers.__file__))")
#
# These patches overwrite parts of `transformers` to:
# (a) support AdaRMS optimizer,
# (b) correctly control the precision of activations,
# (c) allow the KV cache to be used without updates.
#
# IMPORTANT:
# - This permanently modifies the `transformers` installation in your conda environment.
# - The changes will survive reinstalls of `transformers` unless you explicitly remove
# the patched files or recreate the environment.
#
# To undo the operation and restore a clean state, run:
# pip uninstall transformers
# pip install transformers==4.53.2
# Comparison of PI0 vs PI0.5
#
# Feature | PI0 | PI0.5
# ---------------------|---------------------------------------------|-----------------------------------------
# State Embedding | Uses state_proj layer | No state embedding
# Time Conditioning | Concatenates time with actions via | Uses time_mlp_* for AdaRMS conditioning
# | action_time_mlp_* |
# AdaRMS | Not used | Used in action expert
# Tokenizer Length | 48 tokens | 200 tokens
# discrete_state_input | False | True
# Parameter Count | Higher (includes state_proj) | Lower (no state embedding)
@PreTrainedConfig.register_subclass("pi05_openpi")
@dataclass
src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py
-37
View File
@@ -20,43 +20,6 @@ from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.optim.optimizers import AdamWConfig
from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
# ### ⚠️ WARNING ⚠️ ###
# This project requires patching the Hugging Face `transformers` library.
#
# 1. Make sure you have the exact version installed:
# pip show transformers
# It must be version 4.53.2.
#
# 2. Apply the custom patches by copying the modified files into your conda environment (make sure your environment is activated!)
# cp -r ./src/lerobot/policies/pi0_openpi/transformers_replace/* $(python -c "import transformers, os; print(os.path.dirname(transformers.__file__))")
#
# These patches overwrite parts of `transformers` to:
# (a) support AdaRMS optimizer,
# (b) correctly control the precision of activations,
# (c) allow the KV cache to be used without updates.
#
# IMPORTANT:
# - This permanently modifies the `transformers` installation in your conda environment.
# - The changes will survive reinstalls of `transformers` unless you explicitly remove
# the patched files or recreate the environment.
#
# To undo the operation and restore a clean state, run:
# pip uninstall transformers
# pip install transformers==4.53.2
# Comparison of PI0 vs PI0.5
#
# Feature | PI0 | PI0.5
# ---------------------|---------------------------------------------|-----------------------------------------
# State Embedding | Uses state_proj layer | No state embedding
# Time Conditioning | Concatenates time with actions via | Uses time_mlp_* for AdaRMS conditioning
# | action_time_mlp_* |
# AdaRMS | Not used | Used in action expert
# Tokenizer Length | 48 tokens | 200 tokens
# discrete_state_input | False | True
# Parameter Count | Higher (includes state_proj) | Lower (no state embedding)
@PreTrainedConfig.register_subclass("pi0_openpi")
@dataclass