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Prevent PI0/PI05 JAX to PyTorch weight precision drift. #978

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Prevent PI0/PI05 JAX to PyTorch weight precision drift. #978

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e5fe45e
harden pi0 jax to torch conversion dtype
Greyman-Seu Jun 12, 2026
992b4e1
Merge branch 'Physical-Intelligence:main' into feature-align-torch-ja…
Greyman-Seu Jun 16, 2026
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4 changes: 4 additions & 0 deletions examples/convert_jax_model_to_pytorch.py
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Expand Up @@ -26,6 +26,7 @@
python examples/convert_jax_model_to_pytorch.py --checkpoint_dir /home/$USER/.cache/openpi/openpi-assets/checkpoints/pi05_droid --output_path /home/$USER/.cache/openpi/openpi-assets/checkpoints/pi05_droid_pytorch
"""

import dataclasses
import json
import os
import pathlib
Expand Down Expand Up @@ -436,6 +437,9 @@ def convert_pi0_checkpoint(

# Break down orbax ckpts by restoring via JAX to respect dtype
initial_params = slice_initial_orbax_checkpoint(checkpoint_dir=checkpoint_dir, restore_precision="float32")
if model_config.dtype != "float32":
print(f"Using float32 for conversion instead of config dtype={model_config.dtype!r}")
model_config = dataclasses.replace(model_config, dtype="float32")

# Process projection params
if model_config.pi05:
Expand Down