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Fixing PI0 Policy #1297

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Merged
imstevenpmwork merged 1 commit into from
Jun 14, 2025
Merged

Fixing PI0 Policy #1297

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4 changes: 2 additions & 2 deletions lerobot/common/policies/pi0/paligemma_with_expert.py
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Original file line number Diff line number Diff line change
Expand Up @@ -223,7 +223,7 @@ def embed_image(self, image: torch.Tensor):
return self.paligemma.model.get_image_features(image)

def embed_language_tokens(self, tokens: torch.Tensor):
return self.paligemma.language_model.model.embed_tokens(tokens)
return self.paligemma.language_model.embed_tokens(tokens)

# TODO: break down this huge forward into modules or functions
def forward(
Expand All @@ -235,7 +235,7 @@ def forward(
use_cache: Optional[bool] = None,
fill_kv_cache: Optional[bool] = None,
):
models = [self.paligemma.language_model.model, self.gemma_expert.model]
models = [self.paligemma.language_model, self.gemma_expert.model]

for hidden_states in inputs_embeds:
# TODO this is very inefficient
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