tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Dana Aubakirova
2025-06-03 15:32:02 +02:00
committed by GitHub
parent b41362a4aa 209f89a274
commit f01c6d06cf
3 changed files with 7 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
lerobot/common/policies/smolvla/configuration_smolvla.py
View File

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

4
lerobot/common/policies/smolvla/modeling_smolvla.py
View File

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

8
tests/test_available.py
View File

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