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small fixes

Co-authored-by: Remi <remi.cadene@huggingface.co>
This commit is contained in:
Dana Aubakirova
2025-06-02 18:33:41 +02:00
committed by GitHub
parent 64cc94479a
commit 60389f70ca
2 changed files with 3 additions and 4 deletions
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4
lerobot/common/policies/smolvla/smolvlm_with_expert.py
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@@ -133,9 +133,7 @@ class SmolVLMWithExpertModel(nn.Module):
self.expert_hidden_size = lm_expert_config.hidden_size self.expert_hidden_size = lm_expert_config.hidden_size
self.set_requires_grad() self.set_requires_grad()
def get_vlm_model( def get_vlm_model(self):
self,
):
return self.vlm.model return self.vlm.model
def set_requires_grad(self): def set_requires_grad(self):

3
lerobot/common/robot_devices/control_utils.py
View File

@@ -109,8 +109,9 @@ def predict_action(observation, policy, device, use_amp):
): ):
# Convert to pytorch format: channel first and float32 in [0,1] with batch dimension # Convert to pytorch format: channel first and float32 in [0,1] with batch dimension
for name in observation: for name in observation:
# Skip all observations that are not tensors (e.g. text)
if not isinstance(observation[name], torch.Tensor): if not isinstance(observation[name], torch.Tensor):
continue # VLA-like and multirobot policies include textual inputs in the observation continue
if "image" in name: if "image" in name:
observation[name] = observation[name].type(torch.float32) / 255 observation[name] = observation[name].type(torch.float32) / 255