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Description
i use this code to load pi0:
from lerobot.policies.pi0.modeling_pi0 import PI0Policy
import torch
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
pretrained_policy_path = "lerobot/pi0_libero_base"
policy = PI0Policy.from_pretrained(pretrained_policy_path).to(device)
but throws an error:
Traceback (most recent call last):
File "/home/wjg/pi0.py", line 16, in <module>
policy = PI0Policy.from_pretrained(pretrained_policy_path).to(device)
File "/data/wjg_files/lerobot/src/lerobot/policies/pi0/modeling_pi0.py", line 923, in from_pretrained
model = cls(config, **kwargs)
File "/data/wjg_files/lerobot/src/lerobot/policies/pi0/modeling_pi0.py", line 872, in __init__
self.model = PI0Pytorch(config)
File "/data/wjg_files/lerobot/src/lerobot/policies/pi0/modeling_pi0.py", line 513, in __init__
self.paligemma_with_expert = PaliGemmaWithExpertModel(
File "/data/wjg_files/lerobot/src/lerobot/policies/pi0/modeling_pi0.py", line 337, in __init__
vlm_config_hf = CONFIG_MAPPING["paligemma"]()
TypeError: 'NoneType' object is not subscriptable
how can i load pi0?
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policiesItems related to robot policiesItems related to robot policiespythonPull requests that update python codePull requests that update python codequestionRequests for clarification or additional informationRequests for clarification or additional information