Merge branch 'user/mshukor/smolvla_fix' into my-fix-based-on-pr-1175

lerobot/common/policies/smolvla/configuration_smolvla.py

@@ -98,9 +98,9 @@ class SmolVLAConfig(PreTrainedConfig):
     self_attn_every_n_layers: int = 2  # Interleave SA layers each self_attn_every_n_layers
     expert_width_multiplier: float = 0.75  # The action expert hidden size (wrt to the VLM)
 
-    min_period: float = 4e-3   # sensitivity range for the timestep used in sine-cosine positional encoding
-    max_period: float = 4.0  
-   
+    min_period: float = 4e-3  # sensitivity range for the timestep used in sine-cosine positional encoding
+    max_period: float = 4.0
+
     def __post_init__(self):
         super().__post_init__()
 

lerobot/common/policies/smolvla/modeling_smolvla.py

@@ -656,8 +656,8 @@ class VLAFlowMatching(nn.Module):
         dtype = action_emb.dtype
         # Embed timestep using sine-cosine positional encoding with sensitivity in the range [0, 1]
         time_emb = create_sinusoidal_pos_embedding(
-            timestep, self.vlm_with_expert.expert_hidden_size, self.config.min_period, self.config.max_period, device=device
-        )
+            timestep, self.vlm_with_expert.expert_hidden_size, self.config.min_period, self.config.max_period, device=device)
+        
         time_emb = time_emb.type(dtype=dtype)
 
         time_emb = time_emb[:, None, :].expand_as(action_emb)

tests/test_available.py

@@ -21,6 +21,7 @@ import pytest
 import lerobot
 from lerobot.common.policies.act.modeling_act import ACTPolicy
 from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
+from lerobot.common.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
 from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTPolicy
 from tests.utils import require_env
@@ -45,12 +46,7 @@ def test_available_policies():
     This test verifies that the class attribute `name` for all policies is
     consistent with those listed in `lerobot/__init__.py`.
     """
-    policy_classes = [
-        ACTPolicy,
-        DiffusionPolicy,
-        TDMPCPolicy,
-        VQBeTPolicy,
-    ]
+    policy_classes = [ACTPolicy, DiffusionPolicy, TDMPCPolicy, VQBeTPolicy, SmolVLAPolicy]
     policies = [pol_cls.name for pol_cls in policy_classes]
     assert set(policies) == set(lerobot.available_policies), policies