From 5ee83f17a118f82bfede71d2f6df2b0a71232100 Mon Sep 17 00:00:00 2001 From: Maxime Ellerbach Date: Wed, 24 Jun 2026 09:28:07 +0000 Subject: [PATCH] applying fixes --- src/lerobot/policies/lingbot_va/configuration_lingbot_va.py | 6 ++++-- src/lerobot/policies/lingbot_va/modeling_lingbot_va.py | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/lerobot/policies/lingbot_va/configuration_lingbot_va.py b/src/lerobot/policies/lingbot_va/configuration_lingbot_va.py index 63ce52b64..9e9f2c4b4 100644 --- a/src/lerobot/policies/lingbot_va/configuration_lingbot_va.py +++ b/src/lerobot/policies/lingbot_va/configuration_lingbot_va.py @@ -156,8 +156,10 @@ class LingBotVAConfig(PreTrainedConfig): return ConstantWithWarmupSchedulerConfig(num_warmup_steps=self.scheduler_warmup_steps) @property - def observation_delta_indices(self) -> None: - return None + def observation_delta_indices(self) -> list[int]: + temporal_downsample = 4 + stride = max(1, self.action_per_frame // temporal_downsample) + return list(range(0, self.frame_chunk_size * temporal_downsample * stride, stride)) @property def action_delta_indices(self) -> list[int]: diff --git a/src/lerobot/policies/lingbot_va/modeling_lingbot_va.py b/src/lerobot/policies/lingbot_va/modeling_lingbot_va.py index e3446eebf..7ba0ca019 100644 --- a/src/lerobot/policies/lingbot_va/modeling_lingbot_va.py +++ b/src/lerobot/policies/lingbot_va/modeling_lingbot_va.py @@ -1395,7 +1395,7 @@ class LingBotVAPolicy(PreTrainedPolicy): pred = self.transformer(input_dict, train_mode=True) latent_loss, action_loss = self._flow_matching_loss(input_dict, pred) loss = latent_loss + action_loss - return loss, {"latent_loss": latent_loss.detach(), "action_loss": action_loss.detach()} + return loss, {"latent_loss": latent_loss.item(), "action_loss": action_loss.item()} def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict | None]: """Training forward: dual-stream flow-matching loss.