Files
lerobot/tests/policies/pi052
pepijn 22c9c4905e fix(pi052): avoid dense CE over padded tokens
Select only supervised text and FAST action-code positions before cross-entropy to avoid full-vocabulary loss tensors over padded sequences.

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-05-18 18:40:34 +00:00
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