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Fix rtc_config attribute access in SmolVLA

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Use getattr() to safely check for rtc_config attribute existence
instead of direct attribute access. This fixes AttributeError when
loading policies without rtc_config in their config.

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Alexander Soare <alexander.soare159@gmail.com>
Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
Eugene Mironov
2025-11-03 17:53:37 +07:00
parent 0acdde4ae2
commit 08ff689a1e
1 changed files with 14 additions and 16 deletions
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src/lerobot/policies/smolvla/modeling_smolvla.py
+14 -16
View File
@@ -257,8 +257,9 @@ class SmolVLAPolicy(PreTrainedPolicy):
""" """
self.rtc_processor = None self.rtc_processor = None
if self.config.rtc_config is not None and self.config.rtc_config.enabled: rtc_config = getattr(self.config, "rtc_config", None)
self.rtc_processor = RTCProcessor(self.config.rtc_config) if rtc_config is not None and rtc_config.enabled:
self.rtc_processor = RTCProcessor(rtc_config)
# In case of calling init_rtc_processor after the model is created # In case of calling init_rtc_processor after the model is created
# We need to set the rtc_processor to the model # We need to set the rtc_processor to the model
@@ -343,7 +344,8 @@ class SmolVLAPolicy(PreTrainedPolicy):
return len(self._queues[ACTION]) == 0 return len(self._queues[ACTION]) == 0
def _rtc_enabled(self) -> bool: def _rtc_enabled(self) -> bool:
return self.config.rtc_config is not None and self.config.rtc_config.enabled rtc_config = getattr(self.config, "rtc_config", None)
return rtc_config is not None and rtc_config.enabled
def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]: def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]:
"""Do a full training forward pass to compute the loss""" """Do a full training forward pass to compute the loss"""
@@ -806,10 +808,11 @@ class VLAFlowMatching(nn.Module):
timestep=current_timestep, timestep=current_timestep,
) )
if self.config.rtc_config is not None and self.config.rtc_config.enabled: rtc_config = getattr(self.config, "rtc_config", None)
if rtc_config is not None and rtc_config.enabled:
inference_delay = kwargs.get("inference_delay") inference_delay = kwargs.get("inference_delay")
prev_chunk_left_over = kwargs.get("prev_chunk_left_over") prev_chunk_left_over = kwargs.get("prev_chunk_left_over")
execution_horizon = kwargs.get("execution_horizon", self.config.rtc_config.execution_horizon) execution_horizon = kwargs.get("execution_horizon", rtc_config.execution_horizon)
v_t = self.rtc_processor.denoise_step( v_t = self.rtc_processor.denoise_step(
x_t=x_t, x_t=x_t,
@@ -827,11 +830,8 @@ class VLAFlowMatching(nn.Module):
time += dt time += dt
# Record x_t after Euler step (other params are recorded in rtc_processor.denoise_step) # Record x_t after Euler step (other params are recorded in rtc_processor.denoise_step)
if ( rtc_config = getattr(self.config, "rtc_config", None)
self.config.rtc_config is not None if rtc_config is not None and rtc_config.enabled and correction is not None:
and self.config.rtc_config.enabled
and correction is not None
):
self.rtc_processor.track_debug(time=time, x_t=x_t) self.rtc_processor.track_debug(time=time, x_t=x_t)
# Visualize x_t using plot_waypoints - accumulate all denoise steps # Visualize x_t using plot_waypoints - accumulate all denoise steps
@@ -902,7 +902,8 @@ class VLAFlowMatching(nn.Module):
xt_name = "smolvla_x_t_denoise_steps.png" xt_name = "smolvla_x_t_denoise_steps.png"
v_name = "smolvla_v_denoise_steps.png" v_name = "smolvla_v_denoise_steps.png"
if self.config.rtc_config is not None and self.config.rtc_config.enabled: rtc_config = getattr(self.config, "rtc_config", None)
if rtc_config is not None and rtc_config.enabled:
xt_name = "smolvla_x_t_with_rtc_denoise_steps.png" xt_name = "smolvla_x_t_with_rtc_denoise_steps.png"
v_name = "smolvla_v_with_rtc_denoise_steps.png" v_name = "smolvla_v_with_rtc_denoise_steps.png"
@@ -931,11 +932,8 @@ class VLAFlowMatching(nn.Module):
# Plot ground truth on provided axes if available # Plot ground truth on provided axes if available
if use_provided_axes: if use_provided_axes:
prev_chunk_left_over = kwargs.get("prev_chunk_left_over") prev_chunk_left_over = kwargs.get("prev_chunk_left_over")
if ( rtc_config = getattr(self.config, "rtc_config", None)
prev_chunk_left_over is not None if prev_chunk_left_over is not None and rtc_config is not None and rtc_config.enabled:
and self.config.rtc_config is not None
and self.config.rtc_config.enabled
):
plot_waypoints( plot_waypoints(
viz_xt_axs, prev_chunk_left_over, start_from=0, color="red", label="Ground truth" viz_xt_axs, prev_chunk_left_over, start_from=0, color="red", label="Ground truth"
) )