Replay while loop in sample actions with for loops (#2600)

src/lerobot/policies/pi0/modeling_pi0.py

@@ -812,16 +812,13 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        for step in range(num_steps):
-        while time >= -dt / 2:
+            time = 1.0 + step * dt
-            expanded_time = time.expand(bsize)
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-            # Define a closure function to properly capture expanded_time
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
                 return self.denoise_step(
                     state=state,
                     prefix_pad_masks=prefix_pad_masks,
@@ -846,15 +843,11 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
+            x_t = x_t + dt * v_t
-            x_t += dt * v_t
 
-            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/pi05/modeling_pi05.py

@@ -787,16 +787,13 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        for step in range(num_steps):
-        while time >= -dt / 2:
+            time = 1.0 + step * dt
-            expanded_time = time.expand(bsize)
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-            # Define a closure function to properly capture expanded_time
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
                 return self.denoise_step(
                     prefix_pad_masks=prefix_pad_masks,
                     past_key_values=past_key_values,
@@ -820,15 +817,11 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
+            x_t = x_t + dt * v_t
-            x_t += dt * v_t
 
-            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -783,18 +783,15 @@ class VLAFlowMatching(nn.Module):
             use_cache=self.config.use_cache,
             fill_kv_cache=True,
         )
-        dt = -1.0 / self.config.num_steps
+        num_steps = self.config.num_steps
-        dt = torch.tensor(dt, dtype=torch.float32, device=device)
+        dt = -1.0 / num_steps
 
         x_t = noise
-        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        for step in range(num_steps):
+            time = 1.0 + step * dt
+            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
 
-        while time >= -dt / 2:
+            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
-            expanded_time = time.expand(bsize)
-
-            # Define a closure function to properly capture expanded_time
-            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
-            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
                 return self.denoise_step(
                     x_t=input_x_t,
                     prefix_pad_masks=prefix_pad_masks,
@@ -818,15 +815,11 @@ class VLAFlowMatching(nn.Module):
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            # Euler step
+            x_t = x_t + dt * v_t
-            x_t += dt * v_t
 
-            # Record x_t and v_t after Euler step (other params are recorded in rtc_processor.denoise_step)
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
-            time += dt
-
         return x_t
 
     def denoise_step(