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fix bug about sampling time from beta distribution #1605

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Merged
merged 4 commits into from
Jul 28, 2025
Merged

fix bug about sampling time from beta distribution #1605

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f2cc05e
fix bug about sampling t from beta distribution
KleistvonLiu Jul 28, 2025
4ddf9ab
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jul 28, 2025
ae1159b
fix: address review comments
KleistvonLiu Jul 28, 2025
d158c5e
delete useless code
KleistvonLiu Jul 28, 2025
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5 changes: 3 additions & 2 deletions src/lerobot/policies/pi0/modeling_pi0.py
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Original file line number Diff line number Diff line change
Expand Up @@ -515,9 +515,10 @@ def sample_noise(self, shape, device):
return noise

def sample_time(self, bsize, device):
time_beta = sample_beta(1.5, 1.0, bsize, device)
beta_dist = torch.distributions.Beta(concentration1=1.5, concentration0=1.0)
time_beta = beta_dist.sample((bsize,)).to(device=device, dtype=torch.float32)
time = time_beta * 0.999 + 0.001
return time.to(dtype=torch.float32, device=device)
return time

def embed_prefix(
self, images, img_masks, lang_tokens, lang_masks
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