[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

lerobot/__init__.py

@@ -168,7 +168,7 @@ available_datasets = sorted(
 )
 
 # lists all available policies from `lerobot/common/policies`
-available_policies = ["act", "diffusion", "tdmpc", "vqbet"]
+available_policies = ["act", "diffusion", "tdmpc", "vqbet", "smolvla"]
 
 # lists all available robots from `lerobot/common/robot_devices/robots`
 available_robots = [

lerobot/common/policies/smolvla/modeling_smolvla.py

@@ -662,6 +662,7 @@ class VLAFlowMatching(nn.Module):
             self.config.max_period,
             device=device,
         )
+
         time_emb = time_emb.type(dtype=dtype)
 
         time_emb = time_emb[:, None, :].expand_as(action_emb)

lerobot/common/robot_devices/control_utils.py

@@ -272,7 +272,6 @@ def control_loop(
                 action = {"action": action}
 
         if dataset is not None:
-            observation = {k: v for k, v in observation.items() if k not in ["task", "robot_type"]}
             frame = {**observation, **action, "task": single_task}
             dataset.add_frame(frame)
 

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
@@ -45,7 +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