Skip to content

Fix pi0fast loss not sent to wandb #1502

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
ben-z wants to merge 1 commit into from
Closed

Fix pi0fast loss not sent to wandb #1502

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 5 additions & 5 deletions src/lerobot/policies/pi0fast/modeling_pi0fast.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -234,14 +234,14 @@ def select_action(self, batch: dict[str, Tensor]) -> Tensor:
self._action_queue.extend(actions.transpose(0, 1))
return self._action_queue.popleft()

def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
if self.config.adapt_to_pi_aloha:
batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])
batch[ACTION] = self._pi_aloha_encode_actions_inv(batch[ACTION])
batch = self.normalize_inputs(batch)
batch = self.normalize_targets(batch)
loss_dict = self.model.forward(batch)
return loss_dict["loss"], loss_dict
loss, loss_dict = self.model.forward(batch)
return loss, loss_dict


def block_causal_update_causal_mask(
Expand Down Expand Up @@ -745,8 +745,8 @@ def forward(self, batch: dict[str, Tensor]):
loss = token_loss.sum() / torch.clamp(loss_mask.sum(), min=1)

# Return loss dictionary
loss_dict = {"ce_loss": loss.item(), "loss": loss}
return loss_dict
loss_dict = {"ce_loss": loss.item(), "loss": loss.item()}
return loss, loss_dict

def decode_actions_with_fast(
self,
Expand Down
Loading