From 5fd1d8bce9aa941f5440cb785cb9d34dc739e2be Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Wed, 12 Nov 2025 00:02:17 +0700 Subject: [PATCH] Fix PI0.5 init_rtc_processor to use getattr instead of direct model access MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude --- src/lerobot/policies/pi05/modeling_pi05.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lerobot/policies/pi05/modeling_pi05.py b/src/lerobot/policies/pi05/modeling_pi05.py index dd002d307..b017bbc57 100644 --- a/src/lerobot/policies/pi05/modeling_pi05.py +++ b/src/lerobot/policies/pi05/modeling_pi05.py @@ -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