From 966fedfeef02f31177c246e75cabecd4f186bc22 Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Thu, 15 Jan 2026 16:35:58 +0000 Subject: [PATCH] add more --- .../policies/pi05_full/annotate/load_lerobot_high.py | 8 ++++++++ src/lerobot/policies/pi05_full/modeling_pi05.py | 2 +- src/lerobot/policies/pi05_full/tester.py | 0 3 files changed, 9 insertions(+), 1 deletion(-) delete mode 100644 src/lerobot/policies/pi05_full/tester.py diff --git a/src/lerobot/policies/pi05_full/annotate/load_lerobot_high.py b/src/lerobot/policies/pi05_full/annotate/load_lerobot_high.py index 600953ce6..0c6011c20 100644 --- a/src/lerobot/policies/pi05_full/annotate/load_lerobot_high.py +++ b/src/lerobot/policies/pi05_full/annotate/load_lerobot_high.py @@ -20,4 +20,12 @@ print(batch['task_index_high_level']) print(batch['user_prompt'][0]) print(batch['robot_utterance'][0]) print(batch['task'][0]) + + +# read this parquet /fsx/jade_choghari/outputs/pgen_annotations1/meta/tasks.parquett +import pandas as pd +tasks_df = pd.read_parquet('/fsx/jade_choghari/outputs/pgen_annotations1/meta/tasks.parquet') + +# print all +print(tasks_df.columns) breakpoint() \ No newline at end of file diff --git a/src/lerobot/policies/pi05_full/modeling_pi05.py b/src/lerobot/policies/pi05_full/modeling_pi05.py index b4035d0c9..c9a8429cc 100644 --- a/src/lerobot/policies/pi05_full/modeling_pi05.py +++ b/src/lerobot/policies/pi05_full/modeling_pi05.py @@ -1638,7 +1638,7 @@ class PI05FullPolicy(PreTrainedPolicy): subtask_tokens, subtask_masks = self.model.generate_subtask_tokens(images, img_masks, high_level_task_tokens, high_level_task_masks, max_decoding_steps=self.config.tokenizer_max_length) # Sample actions using the model (pass through RTC kwargs, no separate state needed for PI05) actions = self.model.sample_actions(images, img_masks, high_level_task_tokens, high_level_task_masks, subtask_tokens, subtask_masks, **kwargs) - + breakpoint() # Unpad actions to actual action dimension original_action_dim = self.config.output_features[ACTION].shape[0] actions = actions[:, :, :original_action_dim] diff --git a/src/lerobot/policies/pi05_full/tester.py b/src/lerobot/policies/pi05_full/tester.py deleted file mode 100644 index e69de29bb..000000000