mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-23 09:46:00 +00:00
Pepijn Kooijmans
c2aa31bd92
- recipes/subtask_joint.yaml: paper-style single sequence (pi0.5 §IV-B) — the supervised subtask span gets text CE and conditions the FAST and flow losses in the same forward. - joint_subtask_conditioning config flag rebuilds the same layout at inference: state on the task turn, generated subtask as a causal assistant turn (encode_prompt_with_targets + lang_causal_marks through sample_actions), in both the policy select_action path and the runtime adapter. - fast_skip_tokens default 128 -> 1152 so FAST codes land below the <loc> range and never collide with VQA loc targets; _FAST_ACTION_VOCAB_SIZE tightened to the universal tokenizer's 1024 codes. - Strip the trailing space from the 'Assistant:' generation prefill — SentencePiece folds the space into the first target token, so the space-suffixed prefill ended in a lone '▁' never seen in training. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>