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fix(pi0, pi05): stabilize torch.compile and expand test coverage (#3610)

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* chore(gr00t): sync with #3606 for fixing gr00t config crash

* fix(pi0&pi05): fix graph break caused by deepcopy of past_key_values in sample_actions

* fix(pi0&pi05): fix frequent recompile caused by compute_layer_complete

* feat(test): add compile test and benchamrk for pi0 and pi05

* feat(test): add comprehensive testing for pi0 and pi05. Including processor, forward, sample action, etc.
This commit is contained in:
Haoming Song
2026-05-22 16:29:34 +08:00
committed by GitHub
parent c0a2e9814d
commit b74a551d38
18 changed files with 2463 additions and 699 deletions
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tests/policies/pi0_pi05/utils/__init__.py
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"""Utilities shared by PI0/PI05 policy tests."""