refactoring into using pre and post processor

src/lerobot/policies/vla_jepa/configuration_vla_jepa.py

@@ -1,7 +1,6 @@
 from __future__ import annotations
 
 from dataclasses import dataclass, field
-from typing import Any
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import NormalizationMode
@@ -19,8 +18,8 @@ class VLAJEPAConfig(PreTrainedConfig):
     normalization_mapping: dict[str, NormalizationMode] = field(
         default_factory=lambda: {
             "VISUAL": NormalizationMode.IDENTITY,
-            "STATE": NormalizationMode.MEAN_STD,
+            "STATE": NormalizationMode.IDENTITY,
-            "ACTION": NormalizationMode.MEAN_STD,
+            "ACTION": NormalizationMode.MIN_MAX,
         }
     )
 
@@ -66,7 +65,6 @@ class VLAJEPAConfig(PreTrainedConfig):
     repeated_diffusion_steps: int = 8  # independent noise draws per batch item (CogACT-style)
 
     resize_images_to: tuple[int, int] | None = None
-    action_unnormalization_stats: dict[str, Any] | None = None
     binarize_gripper_action: bool = True
     clip_normalized_actions: bool = True
     torch_dtype: str = "bfloat16"

src/lerobot/policies/vla_jepa/convert_vla_jepa_checkpoints.py

@@ -75,25 +75,26 @@ def _map_checkpoint_key(raw_key: str) -> str | None:
     return None
 
 
-def _fetch_action_stats(api: "HfApi", source_repo_id: str, subfolder: str) -> dict | None:
+def _fetch_action_stats(api: HfApi, source_repo_id: str, subfolder: str) -> dict | None:
-    """Try to download dataset_statistics.json and return the action stats dict."""
+    """Download dataset_statistics.json and return the action stats dict."""
     import json
 
     stats_file = f"{subfolder}/dataset_statistics.json"
     try:
         local = api.hf_hub_download(source_repo_id, stats_file)
         data = json.loads(Path(local).read_text())
-        # The original repo nests stats under a robot key, e.g. {"franka": {"action": {...}}}
+        # Original repo nests stats under a robot key, e.g. {"franka": {"action": {...}}}
         for robot_key in data:
             if isinstance(data[robot_key], dict) and "action" in data[robot_key]:
                 log.info("  Loaded action stats from %s (robot key: %s)", stats_file, robot_key)
                 return data[robot_key]["action"]
-        log.warning("  %s found but no 'action' key under any robot — skipping action stats.", stats_file)
+        log.warning("  %s found but no 'action' key under any robot key — skipping action stats.", stats_file)
     except Exception as exc:  # noqa: BLE001
-        log.warning("  Could not fetch %s: %s — action_unnormalization_stats will be None.", stats_file, exc)
+        log.warning("  Could not fetch %s: %s — postprocessor will have no unnorm stats.", stats_file, exc)
     return None
 
 
+
 # ---------------------------------------------------------------------------
 # Architecture — identical across all 4 variants (from config.json)
 # ---------------------------------------------------------------------------
@@ -152,7 +153,6 @@ def _build_config(
     camera_keys: list[str],
     with_state: bool,
     enable_world_model: bool = True,
-    action_stats: dict | None = None,
 ):
     from lerobot.configs.types import FeatureType, PolicyFeature
     from lerobot.policies.vla_jepa.configuration_vla_jepa import VLAJEPAConfig
@@ -167,7 +167,6 @@ def _build_config(
             "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
         },
         enable_world_model=enable_world_model,
-        action_unnormalization_stats=action_stats,
         binarize_gripper_action=True,
         clip_normalized_actions=True,
         **_ARCH,
@@ -277,13 +276,15 @@ def main() -> None:
             log.info("  Skipped sample: %s", skipped_keys[:5])
         log.info("  First 5 mapped keys: %s", list(mapped_sd)[:5])
 
-        # Fetch action unnormalization stats from the source repo
+        # 3. Fetch action stats (min/max per dim) needed by the postprocessor unnormalizer
-        action_stats = _fetch_action_stats(api, SOURCE_REPO_ID, subfolder)
+        action_stats_raw = _fetch_action_stats(api, SOURCE_REPO_ID, subfolder)
+        # Wrap as {"action": {...}} for UnnormalizerProcessorStep
+        dataset_stats = {"action": action_stats_raw} if action_stats_raw is not None else None
 
-        # 3. Build config (no policy instantiation — avoids loading backbone from Hub)
+        # 4. Build config (no policy instantiation — avoids loading backbone from Hub)
-        config = _build_config(camera_keys, with_state, enable_world_model, action_stats)
+        config = _build_config(camera_keys, with_state, enable_world_model)
 
-        # 4. Save everything to a temp dir and upload in one shot
+        # 5. Save everything to a temp dir and upload in one shot
         api.create_repo(target_repo_id, repo_type="model", exist_ok=True)
         with tempfile.TemporaryDirectory() as tmp:
             save_dir = Path(tmp)
@@ -293,7 +294,7 @@ def main() -> None:
 
             config._save_pretrained(save_dir)  # writes config.json via draccus
 
-            preprocessor, postprocessor = make_vla_jepa_pre_post_processors(config)
+            preprocessor, postprocessor = make_vla_jepa_pre_post_processors(config, dataset_stats)
             preprocessor.save_pretrained(save_dir)   # writes policy_preprocessor.json
             postprocessor.save_pretrained(save_dir)  # writes policy_postprocessor.json
 

src/lerobot/policies/vla_jepa/modeling_vla_jepa.py

@@ -405,7 +405,7 @@ class VLAJEPAPolicy(PreTrainedPolicy):
 
     # ---- Format Conversion: LeRobot → Native ----
 
-    def _lerobot_to_native(self, batch: dict[str, Tensor]) -> list[dict]:
+    def _prepare_model_inputs(self, batch: dict[str, Tensor]) -> list[dict]:
         """
         Convert LeRobot batch format to native VLA-JEPA examples format.
 
@@ -524,45 +524,19 @@ class VLAJEPAPolicy(PreTrainedPolicy):
 
         return examples
 
-    # ---- Format Conversion: Native → LeRobot ----
-
-    def _native_to_lerobot(self, native_output: dict[str, Tensor]) -> tuple[Tensor, dict[str, float]]:
-        """
-        Convert native VLA-JEPA output dict to LeRobot (loss, logs) format.
-
-        Native output:
-            {"action_loss": Tensor, "wm_loss": Tensor}
-            or {"wm_loss": Tensor}  (video-only mode)
-
-        LeRobot output:
-            (total_loss: scalar Tensor, {"action_loss": float, "wm_loss": float, "loss": float})
-        """
-        logs: dict[str, float] = {}
-        total_loss = torch.tensor(0.0, device=self.config.device)
-
-        if "action_loss" in native_output:
-            total_loss = total_loss + native_output["action_loss"]
-            logs["action_loss"] = native_output["action_loss"].detach().item()
-
-        if "wm_loss" in native_output:
-            total_loss = total_loss + native_output["wm_loss"]
-            logs["wm_loss"] = native_output["wm_loss"].detach().item()
-
-        logs["loss"] = (
-            total_loss.detach().item()
-            if total_loss.item() != 0
-            else (logs.get("wm_loss", 0.0) + logs.get("action_loss", 0.0))
-        )
-
-        return total_loss, logs
-
     # ---- LeRobot Policy Interface ----
 
     def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
-        """LeRobot train forward: convert → native forward → convert back."""
+        """LeRobot train forward: convert → native forward → aggregate losses."""
-        examples = self._lerobot_to_native(batch)
+        examples = self._prepare_model_inputs(batch)
         native_output = self.model.forward(examples)
-        return self._native_to_lerobot(native_output)
+
+        total_loss = native_output.get("action_loss", torch.tensor(0.0)) + native_output.get(
+            "wm_loss", torch.tensor(0.0)
+        )
+        logs = {k: v.detach().item() for k, v in native_output.items()}
+        logs["loss"] = total_loss.detach().item()
+        return total_loss, logs
 
     def get_optim_params(self) -> dict:
         return self.model.parameters()
@@ -573,8 +547,7 @@ class VLAJEPAPolicy(PreTrainedPolicy):
         self.eval()
         self._queues = populate_queues(self._queues, batch, exclude_keys=[ACTION])
 
-        # Convert to native format
+        examples = self._prepare_model_inputs(batch)
-        examples = self._lerobot_to_native(batch)
         batch_images = [ex["image"] for ex in examples]
         instructions = [ex["lang"] for ex in examples]
 
@@ -582,35 +555,9 @@ class VLAJEPAPolicy(PreTrainedPolicy):
         if "state" in examples[0] and examples[0]["state"] is not None:
             state_np = np.stack([ex["state"] for ex in examples])
 
-        # Call native predict
         actions_np = self.model.predict_action(batch_images, instructions, state_np)
-
-        # Convert back to tensor on the right device
-        actions_np = self._unnormalize_actions(actions_np)
         return torch.from_numpy(actions_np).to(device=self.config.device, dtype=torch.float32)
 
-    def _unnormalize_actions(self, normalized_actions: np.ndarray) -> np.ndarray:
-        """Match starVLA's LIBERO action post-processing exactly."""
-        stats = self.config.action_unnormalization_stats
-        if not stats:
-            return normalized_actions
-
-        actions = normalized_actions.astype(np.float32, copy=True)
-        if self.config.clip_normalized_actions:
-            actions = np.clip(actions, -1.0, 1.0)
-
-        if self.config.binarize_gripper_action and actions.shape[-1] >= 7:
-            actions[..., 6] = np.where(actions[..., 6] < 0.5, 0.0, 1.0)
-
-        action_min = np.asarray(stats["min"], dtype=np.float32)
-        action_max = np.asarray(stats["max"], dtype=np.float32)
-        mask = np.asarray(stats.get("mask", np.ones_like(action_min, dtype=bool)), dtype=bool)
-        scaled = 0.5 * (actions + 1.0) * (action_max - action_min) + action_min
-        actions = np.where(mask, scaled, actions).astype(np.float32)
-        if self.config.binarize_gripper_action and actions.shape[-1] >= 7:
-            actions[..., 6] = 1.0 - 2.0 * (actions[..., 6] > 0.5)
-        return actions
-
     @torch.no_grad()
     def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
         """LeRobot select_action with action queue caching."""

src/lerobot/policies/vla_jepa/processor_vla_jepa.py

@@ -9,16 +9,56 @@ from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     ComplementaryDataProcessorStep,
     DeviceProcessorStep,
+    EnvTransition,
     NormalizerProcessorStep,
     PolicyAction,
     PolicyProcessorPipeline,
+    ProcessorStep,
     ProcessorStepRegistry,
     RenameObservationsProcessorStep,
+    TransitionKey,
+    UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
 from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 
+@ProcessorStepRegistry.register(name="vla_jepa_clip_actions")
+class ClipActionsProcessorStep(ProcessorStep):
+    """Clips action tensor to [-1, 1] before unnormalization."""
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        action = transition.get(TransitionKey.ACTION)
+        if action is not None:
+            transition = dict(transition)
+            transition[TransitionKey.ACTION] = action.clamp(-1.0, 1.0)
+        return transition
+
+    def transform_features(self, features):
+        return features
+
+
+@ProcessorStepRegistry.register(name="vla_jepa_binarize_gripper")
+class BinarizeGripperProcessorStep(ProcessorStep):
+    """Binarizes gripper dim (index 6) after unnormalization.
+
+    Maps continuous value to {-1, 1}: > 0.5 → -1, <= 0.5 → 1 (matches starVLA convention).
+    Only applied when action has >= 7 dimensions.
+    """
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        action = transition.get(TransitionKey.ACTION)
+        if action is not None and action.shape[-1] >= 7:
+            transition = dict(transition)
+            a = action.clone()
+            a[..., 6] = 1.0 - 2.0 * (a[..., 6] > 0.5).float()
+            transition[TransitionKey.ACTION] = a
+        return transition
+
+    def transform_features(self, features):
+        return features
+
+
 def make_vla_jepa_pre_post_processors(
     config: VLAJEPAConfig,
     dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
@@ -37,9 +77,19 @@ def make_vla_jepa_pre_post_processors(
             stats=dataset_stats,
         ),
     ]
-    output_steps = [
+    output_steps: list[ProcessorStep] = []
-        DeviceProcessorStep(device="cpu"),
+    if config.clip_normalized_actions:
-    ]
+        output_steps.append(ClipActionsProcessorStep())
+    output_steps.append(
+        UnnormalizerProcessorStep(
+            features=features,
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        )
+    )
+    if config.binarize_gripper_action:
+        output_steps.append(BinarizeGripperProcessorStep())
+    output_steps.append(DeviceProcessorStep(device="cpu"))
     return (
         PolicyProcessorPipeline[dict[str, Any], dict[str, Any]](
             steps=input_steps,

tests/policies/vla_jepa/conftest.py

@@ -111,6 +111,41 @@ def make_inference_batch(
 # ---------------------------------------------------------------------------
 
 
+class _FakeLanguageLayer(nn.Module):
+    """Leaf module whose forward hook is captured by _qwen_last_decoder_hidden."""
+
+    def __init__(self, hidden_size: int) -> None:
+        super().__init__()
+        self._hidden_size = hidden_size
+
+    def forward(self, hidden: Tensor, **_: object) -> tuple[Tensor, ...]:
+        return (hidden,)
+
+
+class _FakeLanguageModel(nn.Module):
+    def __init__(self, hidden_size: int) -> None:
+        super().__init__()
+        self._hidden_size = hidden_size
+        self.layers = nn.ModuleList([_FakeLanguageLayer(hidden_size)])
+
+    def forward(self, input_ids: Tensor, **_: object) -> SimpleNamespace:
+        batch_size, seq_len = input_ids.shape
+        hidden = torch.zeros(batch_size, seq_len, self._hidden_size, device=input_ids.device)
+        self.layers[-1](hidden)
+        return SimpleNamespace()
+
+
+class _FakeQwenInnerModel(nn.Module):
+    """Mimics the `.model.model` level that _qwen_last_decoder_hidden walks into."""
+
+    def __init__(self, hidden_size: int) -> None:
+        super().__init__()
+        self.language_model = _FakeLanguageModel(hidden_size)
+
+    def forward(self, input_ids: Tensor, **kwargs: object) -> SimpleNamespace:
+        return self.language_model(input_ids)
+
+
 class _FakeQwenBackbone(nn.Module):
     def __init__(self, hidden_size: int) -> None:
         super().__init__()
@@ -119,6 +154,7 @@ class _FakeQwenBackbone(nn.Module):
             hidden_size=hidden_size,
             text_config=SimpleNamespace(hidden_size=hidden_size),
         )
+        self.model = _FakeQwenInnerModel(hidden_size)
 
     @property
     def device(self) -> torch.device:
@@ -189,7 +225,9 @@ class _FakeVideoEncoder(nn.Module):
     def __init__(self, hidden_size: int = 8, tubelet_size: int = 1) -> None:
         super().__init__()
         self.weight = nn.Parameter(torch.ones(1))
-        self.config = SimpleNamespace(hidden_size=hidden_size, tubelet_size=tubelet_size)
+        # image_size must be >= patch_size (16) so the predictor grid is non-zero.
+        # Setting image_size=16 gives a 1x1 grid (1 patch per frame).
+        self.config = SimpleNamespace(hidden_size=hidden_size, tubelet_size=tubelet_size, image_size=16)
 
     @property
     def device(self) -> torch.device:

tests/policies/vla_jepa/test_vla_jepa.py

@@ -5,6 +5,7 @@ from __future__ import annotations
 import os
 from copy import deepcopy
 
+import numpy as np
 import pytest
 import torch
 from torch import Tensor
@@ -206,12 +207,11 @@ def test_reset_clears_action_queue(patch_vla_jepa_external_models: None) -> None
 # ---------------------------------------------------------------------------
 
 
-def test_lerobot_to_native_training_format(patch_vla_jepa_external_models: None) -> None:
+def test_prepare_model_inputs_training_format(patch_vla_jepa_external_models: None) -> None:
-    import numpy as np
     from PIL import Image
 
     policy = VLAJEPAPolicy(make_config())
-    examples = policy._lerobot_to_native(make_train_batch())
+    examples = policy._prepare_model_inputs(make_train_batch())
 
     assert len(examples) == BATCH_SIZE
     for ex in examples:
@@ -222,44 +222,35 @@ def test_lerobot_to_native_training_format(patch_vla_jepa_external_models: None)
         assert ex["state"].shape == (1, STATE_DIM)
 
 
-def test_lerobot_to_native_inference_omits_action(patch_vla_jepa_external_models: None) -> None:
+def test_prepare_model_inputs_inference_omits_action(patch_vla_jepa_external_models: None) -> None:
     policy = VLAJEPAPolicy(make_config())
-    for ex in policy._lerobot_to_native(make_inference_batch()):
+    for ex in policy._prepare_model_inputs(make_inference_batch()):
         assert "action" not in ex
         assert "image" in ex and "video" in ex and "lang" in ex
 
 
-def test_lerobot_to_native_missing_task_uses_default(patch_vla_jepa_external_models: None) -> None:
+def test_prepare_model_inputs_missing_task_uses_default(patch_vla_jepa_external_models: None) -> None:
     policy = VLAJEPAPolicy(make_config())
     batch = make_inference_batch()
     del batch["task"]
-    examples = policy._lerobot_to_native(batch)
+    examples = policy._prepare_model_inputs(batch)
     assert all(isinstance(ex["lang"], str) and len(ex["lang"]) > 0 for ex in examples)
 
 
-def test_lerobot_to_native_string_task_broadcast(patch_vla_jepa_external_models: None) -> None:
+def test_prepare_model_inputs_string_task_broadcast(patch_vla_jepa_external_models: None) -> None:
     policy = VLAJEPAPolicy(make_config())
     batch = make_inference_batch()
     batch["task"] = "open the drawer"
-    assert all(ex["lang"] == "open the drawer" for ex in policy._lerobot_to_native(batch))
+    assert all(ex["lang"] == "open the drawer" for ex in policy._prepare_model_inputs(batch))
 
 
-def test_lerobot_to_native_no_state_omitted(patch_vla_jepa_external_models: None) -> None:
+def test_prepare_model_inputs_no_state_omitted(patch_vla_jepa_external_models: None) -> None:
     from lerobot.utils.constants import OBS_STATE
 
     policy = VLAJEPAPolicy(make_config())
     batch = make_inference_batch()
     del batch[OBS_STATE]
-    assert all("state" not in ex for ex in policy._lerobot_to_native(batch))
+    assert all("state" not in ex for ex in policy._prepare_model_inputs(batch))
-
-
-def test_native_to_lerobot_both_losses(patch_vla_jepa_external_models: None) -> None:
-    policy = VLAJEPAPolicy(make_config())
-    loss, logs = policy._native_to_lerobot({"action_loss": torch.tensor(0.5), "wm_loss": torch.tensor(0.1)})
-    assert torch.isfinite(loss)
-    assert set(logs) == {"action_loss", "wm_loss", "loss"}
-    assert logs["action_loss"] == pytest.approx(0.5, abs=1e-5)
-    assert logs["wm_loss"] == pytest.approx(0.1, abs=1e-5)
 
 
 # ---------------------------------------------------------------------------
@@ -355,3 +346,127 @@ def test_hub_libero_inference_shape() -> None:
     batch = _make_hub_inference_batch(policy)
     action = policy.select_action(batch)
     assert action.shape[-1] == policy.config.action_dim
+
+
+# ---------------------------------------------------------------------------
+# Postprocessor unnormalization tests
+#
+# These tests verify that the postprocessor pipeline (clip → unnorm → binarize)
+# correctly applies MIN_MAX unnormalization after predict_action_chunk.
+# ---------------------------------------------------------------------------
+
+
+def _make_dataset_stats(action_dim: int = ACTION_DIM) -> dict:
+    """Returns sample dataset_stats with a simple [i, i+10] range per action dim."""
+    from lerobot.utils.constants import ACTION
+
+    return {
+        ACTION: {
+            "min": torch.tensor([float(i) for i in range(action_dim)], dtype=torch.float32),
+            "max": torch.tensor([float(i) + 10.0 for i in range(action_dim)], dtype=torch.float32),
+        }
+    }
+
+
+@torch.no_grad()
+def test_postprocessor_unnormalizes_actions(patch_vla_jepa_external_models: None) -> None:
+    """UnnormalizerProcessorStep with MIN_MAX produces the correct inverse of MIN_MAX normalization."""
+    from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+    from lerobot.processor import UnnormalizerProcessorStep
+    from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+    from lerobot.utils.constants import ACTION
+
+    dataset_stats = _make_dataset_stats()
+
+    rng = np.random.default_rng(7)
+    actions_np = rng.uniform(-1.0, 1.0, (2, ACTION_HORIZON, ACTION_DIM)).astype(np.float32)
+
+    a_min = dataset_stats[ACTION]["min"].numpy()
+    a_max = dataset_stats[ACTION]["max"].numpy()
+    expected = (actions_np + 1.0) / 2.0 * (a_max - a_min) + a_min
+
+    features = {ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(ACTION_DIM,))}
+    unnorm_step = UnnormalizerProcessorStep(
+        features=features,
+        norm_map={FeatureType.ACTION: NormalizationMode.MIN_MAX},
+        stats=dataset_stats,
+    )
+
+    actions_tensor = torch.from_numpy(actions_np)
+    transition = policy_action_to_transition(actions_tensor)
+    result = transition_to_policy_action(unnorm_step(transition)).numpy()
+
+    np.testing.assert_allclose(result, expected, rtol=1e-5, atol=1e-6)
+
+
+@torch.no_grad()
+def test_postprocessor_clip_clamps_before_unnorm(patch_vla_jepa_external_models: None) -> None:
+    """ClipActionsProcessorStep clamps to [-1, 1] before unnormalization."""
+    from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+    from lerobot.processor import UnnormalizerProcessorStep
+    from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+    from lerobot.policies.vla_jepa.processor_vla_jepa import ClipActionsProcessorStep
+    from lerobot.utils.constants import ACTION
+
+    dataset_stats = _make_dataset_stats()
+    a_min = dataset_stats[ACTION]["min"].numpy()
+    a_max = dataset_stats[ACTION]["max"].numpy()
+
+    # Deliberately out-of-range inputs
+    actions_np = np.array([[[2.0] * ACTION_DIM, [-3.0] * ACTION_DIM]], dtype=np.float32)
+    clipped = np.clip(actions_np, -1.0, 1.0)
+    expected = (clipped + 1.0) / 2.0 * (a_max - a_min) + a_min
+
+    features = {ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(ACTION_DIM,))}
+    clip_step = ClipActionsProcessorStep()
+    unnorm_step = UnnormalizerProcessorStep(
+        features=features,
+        norm_map={FeatureType.ACTION: NormalizationMode.MIN_MAX},
+        stats=dataset_stats,
+    )
+
+    transition = policy_action_to_transition(torch.from_numpy(actions_np))
+    transition = clip_step(transition)
+    result = transition_to_policy_action(unnorm_step(transition)).numpy()
+
+    np.testing.assert_allclose(result, expected, rtol=1e-5, atol=1e-6)
+
+
+@torch.no_grad()
+def test_postprocessor_applied_after_predict_action_chunk(
+    patch_vla_jepa_external_models: None, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    """predict_action_chunk returns raw actions; the postprocessor applies unnormalization.
+
+    Verifies the split: predict_action_chunk returns normalized actions, and calling the
+    postprocessor on them produces the correctly unnormalized result.
+    """
+    from lerobot.policies.vla_jepa.processor_vla_jepa import make_vla_jepa_pre_post_processors
+
+    raw_actions = np.zeros((BATCH_SIZE, ACTION_HORIZON, ACTION_DIM), dtype=np.float32)
+
+    cfg = make_config()
+    cfg.clip_normalized_actions = False
+    cfg.binarize_gripper_action = False
+    policy = VLAJEPAPolicy(cfg)
+    policy.eval()
+    monkeypatch.setattr(policy.model, "predict_action", lambda *a, **kw: raw_actions.copy())
+
+    dataset_stats = _make_dataset_stats()
+    _, postprocessor = make_vla_jepa_pre_post_processors(cfg, dataset_stats)
+
+    batch = make_inference_batch()
+    chunk = policy.predict_action_chunk(batch)
+
+    # predict_action_chunk returns raw (normalized) actions
+    assert torch.allclose(chunk, torch.zeros_like(chunk), atol=1e-6), (
+        "predict_action_chunk should return raw actions without unnormalization applied."
+    )
+
+    # Postprocessor applies unnormalization: 0 → (0+1)/2 * (max-min) + min = 5 + i
+    unnormed = postprocessor(chunk)
+    from lerobot.utils.constants import ACTION
+    a_min = dataset_stats[ACTION]["min"].numpy()
+    a_max = dataset_stats[ACTION]["max"].numpy()
+    expected_first = 0.5 * (0.0 + 1.0) * (a_max[0] - a_min[0]) + a_min[0]
+    assert unnormed[0, 0, 0].item() == pytest.approx(expected_first, abs=1e-5)

tests/policies/vla_jepa/test_world_model.py

@@ -15,10 +15,15 @@ _ACTION_EMBED_DIM = 8
 def _make_predictor(
     embed_dim: int = 8,
     action_embed_dim: int = _ACTION_EMBED_DIM,
-    predictor_embed_dim: int = 16,
+    predictor_embed_dim: int = 24,
     num_action_tokens: int = 2,
+    tokens_per_frame: int = 1,
 ) -> ActionConditionedVideoPredictor:
     return ActionConditionedVideoPredictor(
+        num_frames=1,
+        img_size=(1, tokens_per_frame),
+        patch_size=1,
+        tubelet_size=1,
         embed_dim=embed_dim,
         action_embed_dim=action_embed_dim,
         predictor_embed_dim=predictor_embed_dim,
@@ -38,16 +43,16 @@ def _make_predictor(
     ],
 )
 def test_predictor_output_shape(batch: int, num_steps: int, tokens_per_frame: int, embed_dim: int) -> None:
-    predictor = _make_predictor(embed_dim=embed_dim, action_embed_dim=_ACTION_EMBED_DIM)
+    predictor = _make_predictor(embed_dim=embed_dim, action_embed_dim=_ACTION_EMBED_DIM, tokens_per_frame=tokens_per_frame)
-    frame_tokens = torch.randn(batch, num_steps, tokens_per_frame, embed_dim)
+    frame_tokens = torch.randn(batch, num_steps * tokens_per_frame, embed_dim)
-    action_tokens = torch.randn(batch, num_steps, 2, _ACTION_EMBED_DIM)
+    action_tokens = torch.randn(batch, num_steps * 2, _ACTION_EMBED_DIM)
     out = predictor(frame_tokens, action_tokens)
-    assert tuple(out.shape) == (batch, num_steps, tokens_per_frame, embed_dim)
+    assert tuple(out.shape) == (batch, num_steps * tokens_per_frame, embed_dim)
     assert torch.isfinite(out).all()
 
 
 def test_predictor_step_mismatch_raises() -> None:
-    predictor = _make_predictor()
+    predictor = _make_predictor(tokens_per_frame=4)
-    frame_tokens = torch.randn(2, 3, 4, 8)
+    frame_tokens = torch.randn(2, 3 * 4, 8)  # 3 steps, 4 tokens each
-    with pytest.raises(ValueError, match="Expected 3 action steps"):
+    with pytest.raises(RuntimeError):
-        predictor(frame_tokens, torch.randn(2, 2, 2, 8))
+        predictor(frame_tokens, torch.randn(2, 2 * 2, 8))  # 2 steps → mismatch