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and paligemma task with newline

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Pepijn
2025-09-18 09:26:18 +02:00
parent 2f76894ac8
commit 912b45900c
1 changed files with 3 additions and 0 deletions
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src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py
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@@ -1162,6 +1162,9 @@ class PI0OpenPIPolicy(PreTrainedPolicy):
batch_size = batch[next(iter(batch.keys()))].shape[0] batch_size = batch[next(iter(batch.keys()))].shape[0]
tasks = ["Pick up the object"] * batch_size tasks = ["Pick up the object"] * batch_size
# PaliGemma prompt has to end with a new line
tasks = [task if task.endswith("\n") else f"{task}\n" for task in tasks]
# Tokenize with max_length padding to match OpenPI's expected format # Tokenize with max_length padding to match OpenPI's expected format
tokenized = self.tokenizer( tokenized = self.tokenizer(
tasks, tasks,