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allow replacing batchnorm with groupnorm for pre-trained image encoder #1887

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allow replacing batchnorm with groupnorm for pre-trained image encoder #1887

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allow replacing batchnorm with groupnorm for pre-trained image encoder
sean1295 Sep 7, 2025
8dcc707
Merge branch 'main' of https://github.com/huggingface/lerobot
sean1295 Sep 19, 2025
b74e644
Merge branch 'huggingface:main' into main
sean1295 Nov 4, 2025
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5 changes: 2 additions & 3 deletions src/lerobot/policies/diffusion/modeling_diffusion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
"""

import math
import warnings
from collections import deque
from collections.abc import Callable

Expand Down Expand Up @@ -465,9 +466,7 @@ def __init__(self, config: DiffusionConfig):
self.backbone = nn.Sequential(*(list(backbone_model.children())[:-2]))
if config.use_group_norm:
if config.pretrained_backbone_weights:
raise ValueError(
"You can't replace BatchNorm in a pretrained model without ruining the weights!"
)
warnings.warn("Replacing BatchNorm in a pretrained model will ruin the pre-trained weights!")
self.backbone = _replace_submodules(
root_module=self.backbone,
predicate=lambda x: isinstance(x, nn.BatchNorm2d),
Expand Down