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Fix PI0.5 init_rtc_processor to use getattr instead of direct model access

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Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
Eugene Mironov
2025-11-12 00:02:17 +07:00
parent 4bacf70782
commit 5fd1d8bce9
1 changed files with 3 additions and 3 deletions
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6
src/lerobot/policies/pi05/modeling_pi05.py
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@@ -1093,9 +1093,9 @@ class PI05Policy(PreTrainedPolicy):
if self.config.rtc_config is not None:
self.rtc_processor = RTCProcessor(self.config.rtc_config)
# Set rtc_processor to the model if it exists
if self.model is not None:
self.model.rtc_processor = self.rtc_processor
model_value = getattr(self, "model", None)
if model_value is not None:
model_value.rtc_processor = self.rtc_processor
def _rtc_enabled(self) -> bool:
return self.config.rtc_config is not None and self.config.rtc_config.enabled