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add training

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This commit is contained in:
Jade Choghari
2025-12-12 10:27:28 +00:00
parent 3c11946755
commit dc452f37e0
8 changed files with 311 additions and 49 deletions
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tests/policies/pi0_pi05/test_pi05_original_vs_lerobot.py
+1 -1
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@@ -266,7 +266,7 @@ def create_original_observation_with_openpi_preprocessing(batch):
elif len(tasks) == 1:
tasks = tasks * batch_size
# Use pi05 state and input tokenizer logic (same as Pi05PrepareStateTokenizerProcessorStep)
# Use pi05 state and input tokenizer logic (same as Pi05PrepareStateAndLanguageTokenizerProcessorStep)
state = batch["observation.state"]
state = deepcopy(state)