fixes for merging (#1188)

lerobot/common/policies/smolvla/configuration_smolvla.py

@@ -98,6 +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  
+   
     def __post_init__(self):
         super().__post_init__()
 

lerobot/common/policies/smolvla/modeling_smolvla.py

@@ -17,7 +17,7 @@
 """
 SmolVLA:
 
-[Paper]()
+[Paper](https://huggingface.co/papers/2506.01844)
 
 Designed by Hugging Face.
 
@@ -656,7 +656,7 @@ 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, min_period=4e-3, max_period=4.0, 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)
 

tests/test_available.py

@@ -23,6 +23,7 @@ from lerobot.common.policies.act.modeling_act import ACTPolicy
 from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.common.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
 from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTPolicy
+from lerobot.common.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from tests.utils import require_env
 
 
@@ -50,6 +51,7 @@ def test_available_policies():
         DiffusionPolicy,
         TDMPCPolicy,
         VQBeTPolicy,
+        SmolVLAPolicy
     ]
     policies = [pol_cls.name for pol_cls in policy_classes]
     assert set(policies) == set(lerobot.available_policies), policies