From efacf8f0e0a5c5b5ea84659b16675590b40c3ef3 Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Mon, 17 Nov 2025 18:45:43 +0100 Subject: [PATCH] clean --- src/lerobot/policies/xvla/modeling_xvla.py | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/src/lerobot/policies/xvla/modeling_xvla.py b/src/lerobot/policies/xvla/modeling_xvla.py index 6d1d0dbdf..015d173fb 100644 --- a/src/lerobot/policies/xvla/modeling_xvla.py +++ b/src/lerobot/policies/xvla/modeling_xvla.py @@ -402,22 +402,6 @@ class XVLAPolicy(PreTrainedPolicy): print(f"Loading checkpoint from {model_file}") state_dict = safetensors.torch.load_file(model_file) - - # # --- Step 4: Modify keys --- - # new_state_dict = {f"model.{k}": v for k, v in state_dict.items()} - - # # Layers to skip (reinitialize) - # keys_to_skip = [ - # "model.transformer.action_encoder.fc.weight", - # "model.transformer.action_encoder.fc.bias", - # "model.transformer.action_decoder.fc.weight", - # "model.transformer.action_decoder.bias.weight" - # ] - # new_state_dict = { - # k: v for k, v in new_state_dict.items() - # if k not in keys_to_skip - # } - # # ---- ADD THIS: Fix shared embeddings ---- encoder_key = "model.vlm.language_model.model.encoder.embed_tokens.weight" shared_key = "model.vlm.language_model.model.shared.weight" if encoder_key in state_dict: