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speedup pi-05 modeling loading by 72s

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Jeremiah Coholich
2026-02-20 15:41:44 -05:00
parent 5865170d36
commit 49444652c6
1 changed files with 7 additions and 1 deletions
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8
src/lerobot/policies/pi05/modeling_pi05.py
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@@ -967,7 +967,13 @@ class PI05Policy(PreTrainedPolicy):
# Initialize model without loading weights
# Check if dataset_stats were provided in kwargs
model = cls(config, **kwargs)
if _transformers_available:
from transformers.modeling_utils import no_init_weights
with no_init_weights():
model = cls(config, **kwargs)
model.model.paligemma_with_expert.paligemma.tie_weights()
else:
model = cls(config, **kwargs)
# Now manually load and remap the state dict
try: