fix(smolvla2): bool attention mask + clean Claude-Code-style REPL

Two issues that combined to make the REPL unusable:

1. ``BatchEncoding.attention_mask`` is a ``Long`` tensor, but SmolVLA's
   ``eager_attention_forward`` does
   ``torch.where(attention_mask[..., None, :, :], ...)`` which
   requires a *bool* condition. Every forward raised ``where expected
   condition to be a boolean tensor, but got a tensor with dtype Long``
   and the diagnostic surfaced it cleanly in the REPL — but generation
   produced nothing useful. Cast to ``bool`` in ``_build_text_batch``
   so the prefix forward goes through.

2. The interactive REPL used ``rich.live.Live`` panels stacked on top
   of ``logging.basicConfig(level=DEBUG)`` HTTP request lines from
   ``httpcore`` / ``httpx`` / ``huggingface_hub``. The two rendering
   loops fought each other in the user's terminal and the output was
   illegible: hundreds of debug lines interleaved with re-rendered
   panels.

   Replace ``Live`` with a simple block redraw — clear screen, print
   the state block, print any robot log lines, then a single ``> ``
   prompt. State changes are visible above the prompt, the way Claude
   Code's REPL renders. No flicker, no re-render races.

   ``_silence_noisy_loggers`` drops the chatty third-party HTTP /
   download / model-init loggers to WARNING. ``-v`` still enables
   DEBUG on the lerobot loggers; if the user needs the HTTP traces,
   they can flip those individually.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/lerobot/policies/smolvla2/inference/steps.py

@@ -211,6 +211,17 @@ def _build_text_batch(policy: Any, prompt_messages: list[dict[str, Any]]) -> dic
         attn = torch.tensor(attn, dtype=torch.long)
         if attn.ndim == 1:
             attn = attn.unsqueeze(0)
+    # SmolVLA's ``eager_attention_forward`` does
+    # ``torch.where(attention_mask[..., None, :, :], ...)`` which
+    # requires a *bool* condition tensor; ``BatchEncoding``'s
+    # attention_mask is typically Long (0/1). Cast so the prefix
+    # forward doesn't blow up with ``where expected condition to be a
+    # boolean tensor, but got a tensor with dtype Long``.
+    if attn is not None and hasattr(attn, "dtype"):
+        import torch as _torch  # noqa: PLC0415
+
+        if attn.dtype != _torch.bool:
+            attn = attn.bool()
     # Move tokens onto the policy's device — otherwise prefix embedding
     # raises a device-mismatch on every forward (CPU tensor vs MPS / CUDA
     # model), which the caller's broad except would swallow silently.

src/lerobot/scripts/lerobot_smolvla2_runtime.py

@@ -320,12 +320,43 @@ def _build_tools(no_tts: bool, tts_voice: str) -> dict[str, Any]:
         return {}
 
 
+def _silence_noisy_loggers() -> None:
+    """Drop chatty third-party loggers down to WARNING.
+
+    HuggingFace / httpx / urllib3 emit one log line per HTTP request,
+    which the REPL has to print between the state block and the
+    prompt — completely unreadable. We never need that detail in the
+    REPL and the user can opt back into it via ``-v`` (verbose mode
+    keeps DEBUG on the lerobot loggers but still gates the noisy ones
+    here unless they explicitly want them).
+    """
+    for name in (
+        "httpcore",
+        "httpcore.connection",
+        "httpcore.http11",
+        "httpcore.proxy",
+        "httpx",
+        "urllib3",
+        "urllib3.connectionpool",
+        "huggingface_hub",
+        "huggingface_hub.repocard",
+        "huggingface_hub.file_download",
+        "transformers",
+        "transformers.modeling_utils",
+        "transformers.tokenization_utils_base",
+        "datasets",
+        "filelock",
+    ):
+        logging.getLogger(name).setLevel(logging.WARNING)
+
+
 def main(argv: list[str] | None = None) -> int:
     args = _parse_args(argv)
     logging.basicConfig(
         level=logging.DEBUG if args.verbose else logging.INFO,
         format="%(asctime)s %(levelname)s %(message)s",
     )
+    _silence_noisy_loggers()
 
     print(f"[smolvla2] loading policy from {args.policy_path}", flush=True)
     policy, preprocessor, _ds_meta = _load_policy_and_preprocessor(
@@ -385,15 +416,17 @@ def main(argv: list[str] | None = None) -> int:
 
 
 def _run_repl(runtime: Any, *, initial_task: str | None, max_ticks: int | None) -> int:
-    """Two-zone TUI: chat scrollback above a persistent state panel.
+    """Claude-Code-style block REPL.
 
-    Uses :class:`rich.live.Live` to keep the state panel rendered
+    Each turn redraws a status block (task / subtask / plan / memory)
-    below the chat history. ``console.input`` for the prompt — Live
+    at the top, prints any robot log lines that came in since the last
-    auto-suspends repaint while the user is typing.
+    turn, then asks for input on a clean ``> `` prompt at the bottom.
+    No live region, no panel re-renders, no rendering races with HTTP
+    log lines — just clear-screen + reprint each turn, the way a
+    chat-style REPL is meant to look.
     """
     try:
         from rich.console import Console  # noqa: PLC0415
-        from rich.live import Live  # noqa: PLC0415
     except ImportError:
         print(
             "[smolvla2] rich is required for the interactive REPL. "
@@ -402,71 +435,92 @@ def _run_repl(runtime: Any, *, initial_task: str | None, max_ticks: int | None)
         )
         return 2
 
-    from lerobot.policies.smolvla2.inference import (  # noqa: PLC0415
+    console = Console(highlight=False)
-        make_state_panel,
-        print_robot_lines,
-        print_user_line,
-    )
 
-    console = Console()
+    def _redraw(robot_lines: list[str] | None = None) -> None:
-    console.print(
+        # ANSI clear screen + home cursor. Falls back gracefully on
-        "[bold]SmolVLA2[/] ready. "
+        # dumb terminals — they just see scrolled output, which is
-        "Type a task to begin, then any line for an interjection, "
+        # fine.
-        "a line ending in '?' for VQA, or 'stop' to exit.",
+        console.clear()
-    )
+        console.rule("[bold]SmolVLA2[/] · dry-run", style="cyan")
+        st = runtime.state
+        for key, label in (
+            ("task", "task"),
+            ("current_subtask", "subtask"),
+            ("current_plan", "plan"),
+            ("current_memory", "memory"),
+        ):
+            value = st.get(key)
+            if value:
+                console.print(f"  [bold cyan]{label:<8}[/] {value}")
+            else:
+                console.print(f"  [dim]{label:<8} (not set)[/]")
+        queue_len = (
+            len(st["action_queue"])
+            if isinstance(st.get("action_queue"), (list, tuple))
+            or hasattr(st.get("action_queue"), "__len__")
+            else 0
+        )
+        pending = len(st.get("tool_calls_pending") or [])
+        console.print(
+            f"  [dim]queued actions: {queue_len}    pending tool calls: {pending}[/]"
+        )
+        console.rule(style="cyan")
+        if robot_lines:
+            for line in robot_lines:
+                console.print(f"  [magenta]{line.strip()}[/]")
+            console.print()
+        # Help line under the divider when nothing is set yet.
+        if not st.get("task"):
+            console.print(
+                "  [dim]Type the task to begin. Lines ending in '?' are VQA, "
+                "anything else is an interjection. Type 'stop' to exit.[/]"
+            )
+
+    last_logs: list[str] = []
+    _redraw()
     if initial_task is None:
-        console.print("[dim]No --task provided; first stdin line will be used.[/]")
+        # Already shown the help line in _redraw when task is None.
-
+        pass
-    panel = make_state_panel(runtime.state)
     ticks_done = 0
-    with Live(
+    try:
-        panel,
+        while True:
-        console=console,
+            try:
-        refresh_per_second=4,
+                line = console.input("[bold cyan]> [/]").strip()
-        transient=False,
+            except EOFError:
-        screen=False,
+                break
-    ) as live:
+            if not line:
-        try:
+                _redraw(last_logs)
-            while True:
+                continue
-                try:
+            lower = line.lower()
-                    line = console.input("[bold cyan]>[/] ").strip()
+            if lower in {"stop", "quit", "exit"}:
-                except EOFError:
+                break
-                    break
-                if not line:
-                    continue
-                lower = line.lower()
-                if lower in {"stop", "quit", "exit"}:
-                    break
 
-                print_user_line(live.console, line)
+            # Inject the user input as the right kind of event,
+            # then run a single pipeline tick to consume it.
+            if not runtime.state.get("task"):
+                task = line[5:].strip() if lower.startswith("task:") else line
+                runtime.set_task(task)
+            elif lower.endswith("?"):
+                runtime.state["recent_vqa_query"] = line
+                runtime.state.setdefault("events_this_tick", []).append(
+                    "user_vqa_query"
+                )
+            else:
+                runtime.state["recent_interjection"] = line
+                runtime.state.setdefault("events_this_tick", []).append(
+                    "user_interjection"
+                )
 
-                # Inject the user input as the right kind of event,
+            last_logs = runtime.step_once() or []
-                # then run a single pipeline tick to consume it.
+            _redraw(last_logs)
-                if not runtime.state.get("task"):
-                    task = line[5:].strip() if lower.startswith("task:") else line
-                    runtime.set_task(task)
-                elif lower.endswith("?"):
-                    runtime.state["recent_vqa_query"] = line
-                    runtime.state.setdefault("events_this_tick", []).append(
-                        "user_vqa_query"
-                    )
-                else:
-                    runtime.state["recent_interjection"] = line
-                    runtime.state.setdefault("events_this_tick", []).append(
-                        "user_interjection"
-                    )
 
-                logs = runtime.step_once()
+            ticks_done += 1
-                if logs:
+            if max_ticks is not None and ticks_done >= max_ticks:
-                    print_robot_lines(live.console, logs)
+                break
-                live.update(make_state_panel(runtime.state))
+    except KeyboardInterrupt:
-
+        console.print("\n[dim]interrupted[/]")
-                ticks_done += 1
+    console.print("[dim]runtime stopped[/]")
-                if max_ticks is not None and ticks_done >= max_ticks:
-                    break
-        except KeyboardInterrupt:
-            console.print("\n[smolvla2] interrupted", style="dim")
-    print("[smolvla2] runtime stopped", flush=True)
     return 0