Pepijn 3b4376aa33 fix(pi052): cast attention bias to model dtype for bf16 inference ...

`_prepare_attention_masks_4d` always returns fp32 (the 0.0 / -inf
literals); with bf16 weights, HF PaliGemma's SDPA path raises
"invalid dtype for bias - should match query's dtype" and
select_message returns empty every step. Cast in both attention
sites: `_compute_layer_ki` (training, when both experts run) and
`select_message` (inference, VLM-only branch). Bf16 training +
bf16 inference now run end to end with no dtype mismatch.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-05-20 18:42:26 +02:00

..

annotations

revert(annotate): move memory + speech prompts to base PR (#3471)

2026-05-19 14:17:52 +02:00

async_inference

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

cameras

refactor(imports): enforce guard pattern (#3382)

2026-04-14 22:54:05 +02:00

common

refactor(imports): enforce guard pattern (#3382)

2026-04-14 22:54:05 +02:00

configs

refactor(recipes): rename recipes, drop pi05_hirobot

2026-05-18 16:02:15 +02:00

data_processing

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

datasets

feat: oversample sparse VQA annotations (recipe consumption + weighted sampler)

2026-05-18 15:30:00 +02:00

envs

feat(sim): VLABench benchmark integration (#3396)

2026-04-21 17:54:11 +02:00

model

refactor(imports): enforce guard pattern (#3382)

2026-04-14 22:54:05 +02:00

motors

refactor(imports): enforce guard pattern (#3382)

2026-04-14 22:54:05 +02:00

optim

fix(pi05): use fused AdamW by default

2026-05-18 19:23:17 +00:00

policies

fix(pi052): cast attention bias to model dtype for bf16 inference

2026-05-20 18:42:26 +02:00

processor

fix(processor): fallback to task message when recipe misses

2026-05-19 15:32:09 +00:00

rl

fix(rl): swap dict merge order to preserve teleop intervention flag (#3273)

2026-04-14 16:20:54 +02:00

robots

feat(smolvla2-runtime): overfit/memorisation diagnostics on the panel

2026-05-12 17:31:04 +02:00

scripts

feat(runtime): make the interactive runtime drive PI052 too

2026-05-19 14:28:55 +02:00

teleoperators

refactor(imports): enforce guard pattern (#3382)

2026-04-14 22:54:05 +02:00

templates

chore(policies): deprecate pi0fast (#2203)

2025-10-14 16:00:42 +02:00

tools

feat(tools): src/lerobot/tools/ — runnable tool registry + SayTool

2026-04-30 18:58:04 +02:00

transforms

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

transport

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

utils

fix(pi052): supervise only FAST action-code tokens

2026-05-18 17:38:34 +00:00

__init__.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

__version__.py

Package folder structure (#1417)

2025-07-01 16:34:46 +02:00

types.py

chore(dependecies): untangle dependecies across internal modules (#3149)

2026-03-15 20:26:06 -07:00