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Add RTC to PI0

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This commit is contained in:
Eugene Mironov
2025-11-07 02:40:11 +07:00
parent 25fb16ea7a
commit ac1816ee9c
3 changed files with 16 additions and 1 deletions
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src/lerobot/policies/pi0/configuration_pi0.py
+4
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@@ -20,6 +20,7 @@ from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.optim.optimizers import AdamWConfig
from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
from lerobot.policies.rtc.configuration_rtc import RTCConfig
from lerobot.utils.constants import OBS_IMAGES
@@ -47,6 +48,9 @@ class PI0Config(PreTrainedConfig):
min_period: float = 4e-3
max_period: float = 4.0
# Real-Time Chunking (RTC) configuration
rtc_config: RTCConfig | None = None
image_resolution: tuple[int, int] = (224, 224) # see openpi `preprocessing_pytorch.py`
# Add empty images. Used to add empty cameras when no image features are present.
src/lerobot/policies/pi05/configuration_pi05.py
+4
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@@ -20,6 +20,7 @@ from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.optim.optimizers import AdamWConfig
from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
from lerobot.policies.rtc.configuration_rtc import RTCConfig
@PreTrainedConfig.register_subclass("pi05")
@@ -46,6 +47,9 @@ class PI05Config(PreTrainedConfig):
min_period: float = 4e-3
max_period: float = 4.0
# Real-Time Chunking (RTC) configuration
rtc_config: RTCConfig | None = None
image_resolution: tuple[int, int] = (224, 224) # see openpi `preprocessing_pytorch.py`
# Add empty images. Used to add empty cameras when no image features are present.