Fix hardcoded action dim in pi0 pytorch model#855
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abhaybd wants to merge 1 commit intoPhysical-Intelligence:mainfrom
Open
Fix hardcoded action dim in pi0 pytorch model#855abhaybd wants to merge 1 commit intoPhysical-Intelligence:mainfrom
abhaybd wants to merge 1 commit intoPhysical-Intelligence:mainfrom
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abhaybd
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uzhilinsky
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Fixes #714 |
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As seen here, the jax version of the pi0 modeling code correctly uses
config.action_dimfor the linear layer shapes. However, the corresponding pytorch code hardcodes this as 32.This works fine for pi0/pi05 since they use an action dim of 32, but if users want to e.g. train a paligemma model with a different action dimension the pytorch code will error. This PR fixes this bug and uses the action dimension from the config.