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adapt_to_pi_aloha parameter #706

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AbdElrahmanMostafaRifaat1432 opened this issue Feb 10, 2025 · 0 comments
Open

adapt_to_pi_aloha parameter #706

AbdElrahmanMostafaRifaat1432 opened this issue Feb 10, 2025 · 0 comments
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configuration Problems with configuration files or settings question Requests for clarification or additional information

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@AbdElrahmanMostafaRifaat1432
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AbdElrahmanMostafaRifaat1432 commented Feb 10, 2025 •
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I am finetuning pi0 on a static aloha dataset and I found the following parameter : adapt_to_pi_aloha : false
in /lerobot/common/policies/pi0/configuration_pi0.py

but when I set it to true the first loss increased from 0.17 to 4.7

should I set it to true or not knowing that I want the predicted actions to be in aloha space
@imstevenpmwork imstevenpmwork added question Requests for clarification or additional information configuration Problems with configuration files or settings labels Apr 7, 2025
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