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pi fixes for dependencies (#2706)

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* pi fixes for dependencies

* add walls sarm conflict

* also add conflicts for pi

* fix(ci): use --extra all instead of --all-extras + --no-extra

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Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Pepijn
2025-12-23 23:58:34 +01:00
committed by GitHub
parent a142c365dd
commit ff271e8b51
4 changed files with 44 additions and 6 deletions
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src/lerobot/policies/pi0/modeling_pi0.py
+4 -3
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@@ -93,10 +93,11 @@ def create_sinusoidal_pos_embedding( # see openpi `create_sinusoidal_pos_embedd
def sample_beta(alpha, beta, bsize, device): # see openpi `sample_beta` (exact copy)
alpha_t = torch.as_tensor(alpha, dtype=torch.float32, device=device)
beta_t = torch.as_tensor(beta, dtype=torch.float32, device=device)
# Beta sampling uses _sample_dirichlet which isn't implemented for MPS, so sample on CPU
alpha_t = torch.tensor(alpha, dtype=torch.float32)
beta_t = torch.tensor(beta, dtype=torch.float32)
dist = torch.distributions.Beta(alpha_t, beta_t)
return dist.sample((bsize,))
return dist.sample((bsize,)).to(device)
def make_att_2d_masks(pad_masks, att_masks): # see openpi `make_att_2d_masks` (exact copy)