From d1eefd4e972e8488a844d234de69a157efac2fd4 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 12 Sep 2025 20:25:55 +0200 Subject: [PATCH] fix: remove unused param --- src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py | 2 +- src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py b/src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py index dffbd6621..ca9d9951d 100644 --- a/src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py +++ b/src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py @@ -1253,7 +1253,7 @@ class PI05OpenPIPolicy(PreTrainedPolicy): # Action queue logic for n_action_steps > 1 if len(self._action_queue) == 0: - actions = self.predict_action_chunk(batch, train=False)[:, : self.config.n_action_steps] + actions = self.predict_action_chunk(batch)[:, : self.config.n_action_steps] # Transpose to get shape (n_action_steps, batch_size, action_dim) self._action_queue.extend(actions.transpose(0, 1)) diff --git a/src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py b/src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py index 5dd3000cb..a50e83781 100644 --- a/src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py +++ b/src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py @@ -1266,7 +1266,7 @@ class PI0OpenPIPolicy(PreTrainedPolicy): # Action queue logic for n_action_steps > 1 if len(self._action_queue) == 0: - actions = self.predict_action_chunk(batch, train=False)[:, : self.config.n_action_steps] + actions = self.predict_action_chunk(batch)[:, : self.config.n_action_steps] # Transpose to get shape (n_action_steps, batch_size, action_dim) self._action_queue.extend(actions.transpose(0, 1))