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style: drop decorative === comment banners from pi052 split

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Replace the === separator banners (against repo style) with plain comments.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
pepijn223
2026-06-04 20:21:10 +02:00
parent c020c0d053
commit de7ba67556
2 changed files with 7 additions and 12 deletions
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src/lerobot/policies/pi052/modeling_pi052.py
+3 -6
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@@ -68,12 +68,9 @@ from .configuration_pi052 import PI052Config
logger = logging.getLogger(__name__)
# ======================================================================
# PI0.5 flow-matching model + helpers (moved here from pi05_backbone.py).
# pi052-specific; the generic dual-expert transformer (PaliGemmaWithExpertModel,
# sdpa_attention_forward, compute_layer_complete, get_gemma_config) lives in
# ``lerobot.policies.pi_gemma`` and is imported above.
# ======================================================================
# PI0.5 flow-matching model + helpers (pi052-specific). The generic dual-expert
# transformer (PaliGemmaWithExpertModel, sdpa_attention_forward,
# compute_layer_complete, get_gemma_config) lives in lerobot.policies.pi_gemma.
class ActionSelectKwargs(TypedDict, total=False):
inference_delay: int | None
src/lerobot/policies/pi_gemma.py
+4 -6
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@@ -383,12 +383,10 @@ __all__ = [
]
# ======================================================================
# PI0.5 / PI052 dual-expert backbone (moved here from pi052/pi05_backbone.py).
# Generic PaliGemma + Gemma action-expert transformer machinery shared by the
# pi052 policy. ``GemmaVariantConfig`` is openpi's width/depth variant config
# (renamed from GemmaConfig to avoid clashing with transformers' GemmaConfig).
# ======================================================================
# PI0.5 / PI052 dual-expert backbone: generic PaliGemma + Gemma action-expert
# transformer machinery used by the pi052 policy. GemmaVariantConfig is openpi's
# width/depth variant config (renamed from GemmaConfig to avoid clashing with
# transformers' GemmaConfig).
def sdpa_attention_forward(
module,