feat(smolvla2): runtime accepts Hub IDs + dataset-driven dry-run

The runtime CLI's loader was broken — it imported a `make_policy_from_path`
that doesn't exist in `lerobot.policies.factory` — and the high-level text
steps generated plan / subtask / memory / VQA from a text-only batch with
no images or state, so dry-runs drifted from the training distribution.

Switch to the standard `PreTrainedConfig.from_pretrained` +
`make_policy(cfg, ds_meta=...)` flow so `--policy.path` accepts both local
directories and Hub repo ids, and add a `--dataset.repo_id` path that walks
a chosen episode and feeds preprocessed observations into every forward
pass — including the four high-level steps (`HighLevelSubtaskFwd`,
`MemoryUpdateFwd`, `UserInterjectionFwd`, `AskVQAFwd`). Frames are routed
through the saved preprocessor pipeline with `language_persistent` /
`language_events` stripped so the recipe-render step stays a no-op (the
runtime supplies its own messages from current state).

Also wires the rich-based two-zone REPL layout (`ui.py`) that the script
was already importing.

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

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

@@ -40,6 +40,7 @@ from .steps import (
     UserInterjectionFwd,
 )
 from .triggers import EventTrigger, HzTrigger, Tick, TickClock, Trigger
+from .ui import make_state_panel, print_robot_lines, print_user_line
 
 __all__ = [
     # runtime
@@ -65,4 +66,8 @@ __all__ = [
     "UserInterjectionFwd",
     "AskVQAFwd",
     "DispatchToolCalls",
+    # UI
+    "make_state_panel",
+    "print_robot_lines",
+    "print_user_line",
 ]

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

@@ -82,10 +82,20 @@ class SmolVLA2Runtime:
             HighLevelSubtaskFwd(
                 trigger=HzTrigger(self.high_level_hz),
                 policy=self.policy,
+                observation_provider=self.observation_provider,
+            ),
+            MemoryUpdateFwd(
+                policy=self.policy,
+                observation_provider=self.observation_provider,
+            ),
+            UserInterjectionFwd(
+                policy=self.policy,
+                observation_provider=self.observation_provider,
+            ),
+            AskVQAFwd(
+                policy=self.policy,
+                observation_provider=self.observation_provider,
             ),
-            MemoryUpdateFwd(policy=self.policy),
-            UserInterjectionFwd(policy=self.policy),
-            AskVQAFwd(policy=self.policy),
             DispatchToolCalls(tools=self.tools),
         ]
         self.state = initial_runtime_state()
@@ -127,6 +137,39 @@ class SmolVLA2Runtime:
 
         self._on_shutdown()
 
+    # ------------------------------------------------------------------
+    # REPL helper: drive one full pipeline pass and return its logs
+    # ------------------------------------------------------------------
+
+    def step_once(self) -> list[str]:
+        """Run one tick of the pipeline and return the log lines.
+
+        Used by the interactive REPL: instead of a background thread,
+        the CLI drives ticks synchronously after each user input. Logs
+        are returned (not printed) so the caller can route them into
+        the rich-Live chat scrollback.
+        """
+        from .triggers import Tick  # noqa: PLC0415
+
+        # Synthesize a tick. We don't need the real wall-clock pacing
+        # here — the REPL drives the runtime, not vice versa — but
+        # ``HzTrigger`` uses ``tick.monotonic_seconds`` to gate, so we
+        # bump it generously so every Hz-triggered step considers
+        # itself due.
+        import time as _time  # noqa: PLC0415
+
+        prev_index = self.state.get("_tick").index if isinstance(self.state.get("_tick"), Tick) else 0
+        self.state["_tick"] = Tick(index=prev_index + 1, monotonic_seconds=_time.monotonic())
+        self.state["log_lines"] = []
+        # ``events_this_tick`` is set up by the caller before
+        # ``step_once`` (the REPL pushes user-driven events first).
+        self.state.setdefault("events_this_tick", [])
+
+        for step in self.pipeline:
+            self.state = step(self.state)
+
+        return list(self.state.get("log_lines") or [])
+
     # ------------------------------------------------------------------
     # I/O
     # ------------------------------------------------------------------

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

@@ -171,13 +171,19 @@ class HighLevelSubtaskFwd(InferenceStep):
     """At ~1 Hz, ask the policy for the next subtask."""
 
     policy: Any = None
+    observation_provider: Any = None
+    """Same shape as ``LowLevelForward.observation_provider``. When
+    set, the resulting observation is merged into ``select_message``'s
+    batch so text generation runs against real video + state."""
+
     trigger: Trigger = field(default_factory=lambda: HzTrigger(hz=1.0))
 
     def run(self, state: dict[str, Any]) -> dict[str, Any] | None:
         if self.policy is None or not state.get("task"):
             return None
         ctx = _control_context_messages(state)
-        msg = _generate_with_policy(self.policy, ctx)
+        observation = _maybe_observation(self.observation_provider)
+        msg = _generate_with_policy(self.policy, ctx, observation=observation)
         if msg:
             changed = set_if_changed(state, "current_subtask", msg, label="subtask")
             if changed:
@@ -191,6 +197,7 @@ class MemoryUpdateFwd(InferenceStep):
     """On subtask boundary, refresh the compressed memory."""
 
     policy: Any = None
+    observation_provider: Any = None
     trigger: Trigger = field(default_factory=lambda: EventTrigger("subtask_change"))
 
     def run(self, state: dict[str, Any]) -> dict[str, Any] | None:
@@ -198,7 +205,8 @@ class MemoryUpdateFwd(InferenceStep):
         if self.policy is None:
             return None
         ctx = _control_context_messages(state, include_completed=True)
-        new_memory = _generate_with_policy(self.policy, ctx)
+        observation = _maybe_observation(self.observation_provider)
+        new_memory = _generate_with_policy(self.policy, ctx, observation=observation)
         if new_memory:
             set_if_changed(state, "current_memory", new_memory, label="memory")
         return None
@@ -209,6 +217,7 @@ class UserInterjectionFwd(InferenceStep):
     """On stdin interjection, refresh the plan + emit a paired ``say``."""
 
     policy: Any = None
+    observation_provider: Any = None
     trigger: Trigger = field(default_factory=lambda: EventTrigger("user_interjection"))
 
     def run(self, state: dict[str, Any]) -> dict[str, Any] | None:
@@ -218,7 +227,8 @@ class UserInterjectionFwd(InferenceStep):
             state,
             extra_user=state.get("recent_interjection"),
         )
-        out = _generate_with_policy(self.policy, ctx)
+        observation = _maybe_observation(self.observation_provider)
+        out = _generate_with_policy(self.policy, ctx, observation=observation)
         if not out:
             return None
         # Heuristic split: model is trained to emit one assistant turn
@@ -247,6 +257,7 @@ class AskVQAFwd(InferenceStep):
     """On stdin question, answer a frame-grounded VQA."""
 
     policy: Any = None
+    observation_provider: Any = None
     trigger: Trigger = field(default_factory=lambda: EventTrigger("user_vqa_query"))
 
     def run(self, state: dict[str, Any]) -> dict[str, Any] | None:
@@ -256,7 +267,8 @@ class AskVQAFwd(InferenceStep):
         if not question:
             return None
         ctx = _control_context_messages(state, extra_user=question)
-        answer = _generate_with_policy(self.policy, ctx)
+        observation = _maybe_observation(self.observation_provider)
+        answer = _generate_with_policy(self.policy, ctx, observation=observation)
         if answer:
             push_log(state, f"  vqa: {answer}")
         state["recent_vqa_query"] = None
@@ -326,35 +338,54 @@ def _control_context_messages(
     return msgs
 
 
-def _generate_with_policy(policy: Any, messages: list[dict[str, Any]]) -> str:
+def _maybe_observation(provider: Any) -> dict | None:
-    """Drive ``policy.select_message`` with a minimal text-only batch.
+    """Pull one observation from ``provider`` if it's set, else ``None``.
 
-    Best-effort: the runtime today doesn't construct a full
+    Errors from the provider are logged at debug level and swallowed —
-    observation batch with images / state for text generation; the
+    text generation still runs (in text-only mode) so a flaky frame
-    text-head was trained over images + lang + state, so generations
+    source doesn't kill the REPL.
-    here may differ in distribution from training. This is acceptable
+    """
-    for a v1 REPL; a follow-up will plug in the real observation.
+    if provider is None:
+        return None
+    try:
+        return provider()
+    except Exception as exc:  # noqa: BLE001
+        logger.debug("observation_provider raised %s — falling back to text-only", exc)
+        return None
+
+
+def _generate_with_policy(
+    policy: Any,
+    messages: list[dict[str, Any]],
+    *,
+    observation: dict | None = None,
+) -> str:
+    """Drive ``policy.select_message`` with a chat batch (and optional obs).
+
+    When ``observation`` carries ``observation.images.*`` and
+    ``observation.state``, those are merged into the batch so
+    ``select_message`` runs the same VLM prefix the policy was trained
+    on. Without an observation the runtime falls back to a text-only
+    prompt — the text head still runs, but generations may drift from
+    the training distribution.
     """
     if not hasattr(policy, "select_message"):
         return ""
     text_batch = _build_text_batch(policy, messages)
-    # ``select_message`` expects a real batch with OBS_LANGUAGE_TOKENS.
-    # The minimal text-only batch we build doesn't have images / state,
-    # so we either run a text-only forward (handled by SmolVLA2 when
-    # supported) or skip and return empty. v1 returns empty when the
-    # policy can't handle it; the runtime logs and continues.
     try:
-        # Convert to the OBS_LANGUAGE_TOKENS / OBS_LANGUAGE_ATTENTION_MASK
-        # keys ``select_message`` uses internally.
         from lerobot.utils.constants import (  # noqa: PLC0415
             OBS_LANGUAGE_ATTENTION_MASK,
             OBS_LANGUAGE_TOKENS,
         )
 
-        batch = {
+        batch: dict[str, Any] = {
             OBS_LANGUAGE_TOKENS: text_batch["lang_tokens"],
             OBS_LANGUAGE_ATTENTION_MASK: text_batch["lang_masks"],
         }
+        if observation:
+            for k, v in observation.items():
+                if isinstance(k, str) and k.startswith("observation.") and k not in batch:
+                    batch[k] = v
         return policy.select_message(batch, tokenizer=text_batch["tokenizer"])
     except Exception as exc:  # noqa: BLE001
         logger.debug("select_message fell back: %s", exc)

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

@@ -0,0 +1,119 @@
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""Rich-based REPL layout for the SmolVLA2 runtime.
+
+Two-zone terminal layout:
+
+    [chat scrollback — user messages / robot responses, scrolls naturally]
+
+    ┌── State ──────────────────────────────────────────┐
+    │ task     please clean up the kitchen              │
+    │ subtask  grasp the handle of the sponge           │
+    │ plan     1. grasp sponge  2. wipe  3. tidy        │
+    │ memory   sponge picked up; counter still dirty    │
+    └───────────────────────────────────────────────────┘
+    > _
+
+The state panel re-renders on every state change. Chat lines are
+``console.print``'d above the live region so they accumulate naturally
+in scrollback. Implemented with :class:`rich.live.Live` plus
+:func:`rich.console.Console.input` for the prompt — when an input is
+pending, ``rich.Live`` auto-suspends so the input doesn't fight the
+panel for cursor position.
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+try:  # rich is optional; only required for the interactive REPL.
+    from rich.console import Console
+    from rich.panel import Panel
+    from rich.table import Table
+    from rich.text import Text
+
+    _HAS_RICH = True
+except ImportError:  # pragma: no cover
+    _HAS_RICH = False
+    Console = Any  # type: ignore[assignment]
+    Panel = Any  # type: ignore[assignment]
+    Table = Any  # type: ignore[assignment]
+    Text = Any  # type: ignore[assignment]
+
+
+_STATE_KEYS = (
+    ("task", "task"),
+    ("current_subtask", "subtask"),
+    ("current_plan", "plan"),
+    ("current_memory", "memory"),
+)
+
+
+def make_state_panel(state: dict[str, Any]) -> Any:
+    """Render the persistent state panel for the live region.
+
+    Returns a :class:`rich.panel.Panel`. Caller passes it to
+    ``Live.update(panel)`` whenever the state changes.
+    """
+    if not _HAS_RICH:
+        raise RuntimeError(
+            "rich is required for the interactive REPL. "
+            "`pip install rich` (it's a transitive dep of lerobot)."
+        )
+    table = Table.grid(padding=(0, 2), expand=True)
+    table.add_column(justify="right", style="dim", no_wrap=True, width=10)
+    table.add_column(justify="left")
+    for key, label in _STATE_KEYS:
+        value = state.get(key)
+        if value is None:
+            rendered = Text("(not set)", style="dim italic")
+        else:
+            rendered = Text(str(value), style="bold")
+        table.add_row(label, rendered)
+    queue = state.get("action_queue")
+    queue_len = len(queue) if hasattr(queue, "__len__") else 0
+    pending = state.get("tool_calls_pending") or []
+    footer = Text.assemble(
+        ("queued actions: ", "dim"),
+        (str(queue_len), "bold cyan"),
+        ("    pending tool calls: ", "dim"),
+        (str(len(pending)), "bold magenta"),
+    )
+    table.add_row("", footer)
+    return Panel(table, title="[bold]SmolVLA2 state[/]", border_style="cyan")
+
+
+def print_user_line(console: Any, line: str) -> None:
+    """Append a user-typed line to the chat scrollback."""
+    if not _HAS_RICH:
+        print(f"you: {line}", flush=True)
+        return
+    console.print(f"[bold cyan]you:[/] {line}")
+
+
+def print_robot_lines(console: Any, lines: list[str]) -> None:
+    """Append robot/runtime log lines to the chat scrollback."""
+    if not _HAS_RICH:
+        for line in lines:
+            print(f"robot: {line.lstrip()}", flush=True)
+        return
+    for line in lines:
+        # The runtime uses leading whitespace + "label: text"; render
+        # the label in green and the value in default for readability.
+        stripped = line.lstrip()
+        if ":" in stripped:
+            label, _, value = stripped.partition(":")
+            console.print(f"[bold green]robot[/] [dim]({label.strip()})[/] {value.strip()}")
+        else:
+            console.print(f"[bold green]robot:[/] {stripped}")

src/lerobot/scripts/lerobot_smolvla2_runtime.py

@@ -23,11 +23,21 @@ speech) as they happen.
 Examples
 --------
 
-Dry run on a checkpoint, no robot connected — useful for sanity-
+Dry run on a Hub checkpoint, no robot connected — useful for sanity-
 checking text generation::
 
     uv run lerobot-smolvla2-runtime \\
-        --policy.path=outputs/train/smolvla2_super_poulain/000020000/pretrained_model \\
+        --policy.path=pepijn223/smolvla2_hirobot_super_poulain_tool2 \\
+        --no_robot \\
+        --task="please clean the kitchen"
+
+Same, but feed real frames from an annotated dataset so plan / subtask
+/ memory / VQA generation runs against actual video + state::
+
+    uv run lerobot-smolvla2-runtime \\
+        --policy.path=pepijn223/smolvla2_hirobot_super_poulain_tool2 \\
+        --dataset.repo_id=pepijn223/super_poulain_annotated \\
+        --dataset.episode=0 \\
         --no_robot \\
         --task="please clean the kitchen"
 
@@ -38,6 +48,9 @@ With a real robot::
         --robot.type=so101 --robot.port=/dev/tty.usbmodem... \\
         --tts.voice=alba
 
+``--policy.path`` accepts either a local directory or a Hugging Face
+Hub repo id. ``--dataset.repo_id`` likewise.
+
 Tool dispatch (TTS via ``SayTool``) is enabled by default when
 ``pocket-tts`` is installed; pass ``--no_tts`` to disable.
 """
@@ -47,8 +60,7 @@ from __future__ import annotations
 import argparse
 import logging
 import sys
-from pathlib import Path
+from typing import Any, Callable
-from typing import Any
 
 logger = logging.getLogger("lerobot.smolvla2.runtime")
 
@@ -61,9 +73,51 @@ def _parse_args(argv: list[str] | None = None) -> argparse.Namespace:
     p.add_argument(
         "--policy.path",
         dest="policy_path",
-        type=Path,
+        type=str,
         required=True,
-        help="Path to a trained SmolVLA2 ``pretrained_model`` directory.",
+        help=(
+            "Local directory or Hugging Face Hub repo id pointing at a "
+            "trained SmolVLA2 ``pretrained_model``."
+        ),
+    )
+    p.add_argument(
+        "--dataset.repo_id",
+        dest="dataset_repo_id",
+        type=str,
+        default=None,
+        help=(
+            "Optional dataset (local path or Hub repo id) used to drive "
+            "observations during dry-run inference. When set, the runtime "
+            "reads camera frames + state from the chosen episode and feeds "
+            "them into all forward passes — so plan / subtask / memory / "
+            "VQA generation see the same visual context the policy was "
+            "trained on."
+        ),
+    )
+    p.add_argument(
+        "--dataset.episode",
+        dest="dataset_episode",
+        type=int,
+        default=0,
+        help="Episode index to walk through (default: 0).",
+    )
+    p.add_argument(
+        "--dataset.start_frame",
+        dest="dataset_start_frame",
+        type=int,
+        default=0,
+        help="Frame index within the episode to start from (default: 0).",
+    )
+    p.add_argument(
+        "--dataset.advance_per_tick",
+        dest="dataset_advance_per_tick",
+        type=int,
+        default=1,
+        help=(
+            "How many dataset frames to advance per runtime tick. The "
+            "default of 1 means the runtime walks the episode forward "
+            "frame by frame; set to 0 to freeze on ``start_frame``."
+        ),
     )
     p.add_argument(
         "--task",
@@ -111,16 +165,136 @@ def _parse_args(argv: list[str] | None = None) -> argparse.Namespace:
     return p.parse_args(argv)
 
 
-def _load_policy(path: Path):  # noqa: ANN202
+def _load_policy_and_preprocessor(
-    """Load a SmolVLA2 checkpoint from ``path``."""
+    policy_path: str,
-    from lerobot.policies.factory import make_policy_from_path  # noqa: PLC0415
+    dataset_repo_id: str | None,
+) -> tuple[Any, Any, Any]:
+    """Load a SmolVLA2 checkpoint (local path or Hub repo id).
+
+    When ``dataset_repo_id`` is provided, the dataset's metadata is used
+    to derive policy features (matching the standard
+    ``make_policy(cfg, ds_meta=...)`` flow used by ``lerobot-train`` and
+    ``lerobot-record``). When it isn't, we fall back to instantiating
+    the policy directly via ``from_pretrained`` — this skips the
+    feature-derivation path that ``make_policy`` insists on, but also
+    means we can't load the saved preprocessor pipeline (which depends
+    on ``input_features`` / ``output_features``). For inference-only
+    dry-runs this is fine; the policy still loads.
+
+    Returns ``(policy, preprocessor, ds_meta)`` where ``preprocessor``
+    and ``ds_meta`` may be ``None`` if no dataset was provided.
+    """
+    from lerobot.configs import PreTrainedConfig  # noqa: PLC0415
+    from lerobot.policies.factory import make_policy, make_pre_post_processors  # noqa: PLC0415
+
+    cfg = PreTrainedConfig.from_pretrained(policy_path)
+    cfg.pretrained_path = policy_path
+
+    ds_meta = None
+    preprocessor = None
+    if dataset_repo_id is not None:
+        from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata  # noqa: PLC0415
+
+        ds_meta = LeRobotDatasetMetadata(dataset_repo_id)
+        policy = make_policy(cfg, ds_meta=ds_meta)
+        preprocessor, _ = make_pre_post_processors(
+            cfg,
+            pretrained_path=policy_path,
+            dataset_stats=ds_meta.stats,
+        )
+    else:
+        # No dataset: instantiate the policy class directly so we don't
+        # need ds_meta. This bypasses ``make_policy``'s feature-shape
+        # derivation, which is fine for a pretrained checkpoint where
+        # the saved config already carries those shapes.
+        from lerobot.policies.factory import get_policy_class  # noqa: PLC0415
+
+        policy_cls = get_policy_class(cfg.type)
+        policy = policy_cls.from_pretrained(policy_path, config=cfg)
+        policy.to(cfg.device)
 
-    policy = make_policy_from_path(str(path))
     policy.eval()
-    return policy
+    return policy, preprocessor, ds_meta
 
 
-def _build_tools(policy_path: Path, no_tts: bool, tts_voice: str) -> dict[str, Any]:
+def _build_observation_provider(
+    *,
+    dataset_repo_id: str,
+    episode: int,
+    start_frame: int,
+    advance_per_tick: int,
+    preprocessor: Any,
+    device: str,
+) -> Callable[[], dict | None]:
+    """Build a closure that feeds dataset frames into the runtime.
+
+    Each call returns a preprocessed observation batch (images +
+    state, batched, on the policy's device, normalized) suitable for
+    ``policy.select_action`` and ``policy.select_message``. The
+    closure walks the chosen episode forward by ``advance_per_tick``
+    frames per call, looping back to the episode start when it falls
+    off the end.
+
+    The dataset's ``language_persistent`` / ``language_events``
+    columns are stripped before the sample reaches the preprocessor,
+    so ``RenderMessagesStep`` and ``SmolVLA2ChatTokenizerStep`` are
+    no-ops; the runtime supplies its own messages from current state.
+    """
+    import torch  # noqa: PLC0415
+
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset  # noqa: PLC0415
+
+    ds = LeRobotDataset(dataset_repo_id, episodes=[episode])
+    if len(ds) == 0:
+        raise ValueError(
+            f"Dataset {dataset_repo_id!r} episode {episode} is empty."
+        )
+
+    state = {"cursor": max(0, min(start_frame, len(ds) - 1))}
+
+    def _provider() -> dict | None:
+        idx = state["cursor"]
+        if advance_per_tick > 0:
+            state["cursor"] = (idx + advance_per_tick) % len(ds)
+
+        sample = ds[idx]
+        # Strip the language columns so the preprocessor's render step
+        # is a no-op — the runtime drives messages itself.
+        for k in ("language_persistent", "language_events"):
+            sample.pop(k, None)
+
+        if preprocessor is not None:
+            sample = preprocessor(sample)
+
+        # Keep only observation keys; the runtime's text path will
+        # merge these with its own lang_tokens / lang_masks.
+        observation = {
+            k: v
+            for k, v in sample.items()
+            if isinstance(k, str) and k.startswith("observation.")
+        }
+        # Defensive: if something further upstream forgot the batch
+        # dim, add it now so downstream Tensor ops don't crash.
+        for k, v in list(observation.items()):
+            if isinstance(v, torch.Tensor) and v.ndim > 0 and v.shape[0] != 1:
+                # ``add_batch_dim`` already ran inside the preprocessor;
+                # an unbatched tensor at this point means a step
+                # somewhere produced an unbatched output. Best-effort
+                # fix.
+                if v.shape[0] != 1 and v.ndim < 4 and "image" not in k:
+                    observation[k] = v.unsqueeze(0)
+        # Move to device (the preprocessor's DeviceProcessorStep should
+        # already have done this when ``preprocessor is not None``;
+        # this is a belt-and-braces no-op in the common case).
+        for k, v in list(observation.items()):
+            if isinstance(v, torch.Tensor):
+                observation[k] = v.to(device)
+        return observation
+
+    return _provider
+
+
+def _build_tools(no_tts: bool, tts_voice: str) -> dict[str, Any]:
     """Instantiate the tools declared on this dataset/policy."""
     if no_tts:
         return {}
@@ -140,20 +314,32 @@ def main(argv: list[str] | None = None) -> int:
         format="%(asctime)s %(levelname)s %(message)s",
     )
 
-    if not args.policy_path.exists():
-        print(f"[smolvla2] policy path not found: {args.policy_path}", file=sys.stderr)
-        return 1
-
     print(f"[smolvla2] loading policy from {args.policy_path}", flush=True)
-    policy = _load_policy(args.policy_path)
+    policy, preprocessor, _ds_meta = _load_policy_and_preprocessor(
+        args.policy_path, args.dataset_repo_id
+    )
 
-    tools = _build_tools(args.policy_path, args.no_tts, args.tts_voice)
+    observation_provider: Callable[[], dict | None] | None = None
+    if args.dataset_repo_id is not None:
+        print(
+            f"[smolvla2] streaming observations from {args.dataset_repo_id} "
+            f"episode={args.dataset_episode} "
+            f"start_frame={args.dataset_start_frame}",
+            flush=True,
+        )
+        observation_provider = _build_observation_provider(
+            dataset_repo_id=args.dataset_repo_id,
+            episode=args.dataset_episode,
+            start_frame=args.dataset_start_frame,
+            advance_per_tick=args.dataset_advance_per_tick,
+            preprocessor=preprocessor,
+            device=str(getattr(policy.config, "device", "cpu")),
+        )
+
+    tools = _build_tools(args.no_tts, args.tts_voice)
     if tools:
         print(f"[smolvla2] tools loaded: {list(tools)}", flush=True)
 
-    # Robot wiring is left as a follow-up — for v1 we run language-only
-    # / dry-run so REPL development doesn't require a connected robot.
-    observation_provider = None
     robot_executor = None
     if not args.no_robot:
         print(
@@ -162,33 +348,112 @@ def main(argv: list[str] | None = None) -> int:
             flush=True,
         )
 
-    from lerobot.policies.smolvla2.inference import (  # noqa: PLC0415
+    from lerobot.policies.smolvla2.inference import SmolVLA2Runtime  # noqa: PLC0415
-        SmolVLA2Runtime,
-        StdinReader,
-    )
 
     runtime = SmolVLA2Runtime(
         policy=policy,
         tools=tools,
         observation_provider=observation_provider,
         robot_executor=robot_executor,
-        event_collector=StdinReader().poll,
+        # No background event collector — the REPL drives ticks
+        # synchronously after each user input. The runtime's own
+        # ``run()`` loop is bypassed here in favour of ``step_once()``
+        # so the input prompt and the live state panel co-exist
+        # cleanly.
+        event_collector=None,
         chunk_hz=args.chunk_hz,
         ctrl_hz=args.ctrl_hz,
         high_level_hz=args.high_level_hz,
     )
     if args.task:
         runtime.set_task(args.task)
-    print(
+
-        "[smolvla2] runtime ready. Type a task to begin, then any line for "
+    return _run_repl(runtime, initial_task=args.task, max_ticks=args.max_ticks)
-        "interjections, questions ending in '?' for VQA, or 'stop' to exit.",
+
-        flush=True,
+
-    )
+def _run_repl(runtime: Any, *, initial_task: str | None, max_ticks: int | None) -> int:
+    """Two-zone TUI: chat scrollback above a persistent state panel.
+
+    Uses :class:`rich.live.Live` to keep the state panel rendered
+    below the chat history. ``console.input`` for the prompt — Live
+    auto-suspends repaint while the user is typing.
+    """
     try:
-        runtime.run(max_ticks=args.max_ticks)
+        from rich.console import Console  # noqa: PLC0415
-    except KeyboardInterrupt:
+        from rich.live import Live  # noqa: PLC0415
-        runtime.stop()
+    except ImportError:
-        print("\n[smolvla2] interrupted by user", flush=True)
+        print(
+            "[smolvla2] rich is required for the interactive REPL. "
+            "`pip install rich` and re-run.",
+            file=sys.stderr,
+        )
+        return 2
+
+    from lerobot.policies.smolvla2.inference import (  # noqa: PLC0415
+        make_state_panel,
+        print_robot_lines,
+        print_user_line,
+    )
+
+    console = Console()
+    console.print(
+        "[bold]SmolVLA2[/] ready. "
+        "Type a task to begin, then any line for an interjection, "
+        "a line ending in '?' for VQA, or 'stop' to exit.",
+    )
+    if initial_task is None:
+        console.print("[dim]No --task provided; first stdin line will be used.[/]")
+
+    panel = make_state_panel(runtime.state)
+    ticks_done = 0
+    with Live(
+        panel,
+        console=console,
+        refresh_per_second=4,
+        transient=False,
+        screen=False,
+    ) as live:
+        try:
+            while True:
+                try:
+                    line = console.input("[bold cyan]>[/] ").strip()
+                except EOFError:
+                    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"
+                    )
+
+                logs = runtime.step_once()
+                if logs:
+                    print_robot_lines(live.console, logs)
+                live.update(make_state_panel(runtime.state))
+
+                ticks_done += 1
+                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