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fixing action and state dim

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Maxime Ellerbach
2026-05-13 08:33:27 +00:00
parent 96a8efddf0
commit 3722715742
1 changed files with 3 additions and 0 deletions
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src/lerobot/policies/vla_jepa/configuration_vla_jepa.py
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@@ -86,6 +86,9 @@ class VLAJEPAConfig(PreTrainedConfig):
raise ValueError("VLAJEPA requires at least one visual input feature.") raise ValueError("VLAJEPA requires at least one visual input feature.")
if self.action_feature is None: if self.action_feature is None:
raise ValueError("VLAJEPA requires an action output feature.") raise ValueError("VLAJEPA requires an action output feature.")
self.action_dim = self.action_feature.shape[0]
if self.robot_state_feature is not None:
self.state_dim = self.robot_state_feature.shape[0]
def get_optimizer_preset(self) -> AdamWConfig: def get_optimizer_preset(self) -> AdamWConfig:
return AdamWConfig( return AdamWConfig(