cast float64 to float32 for mps

src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py

@@ -37,6 +37,8 @@ from lerobot.policies.pretrained import PreTrainedPolicy
 # Helper functions
 def get_safe_dtype(target_dtype, device_type):  # see openpi `get_safe_dtype` (exact copy)
     """Get a safe dtype for the given device type."""
+    if device_type == "mps" and target_dtype == torch.float64:
+        return torch.float32
     if device_type == "cpu":
         # CPU doesn't support bfloat16, use float32 instead
         if target_dtype == torch.bfloat16: