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applying fixes

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This commit is contained in:
Maxime Ellerbach
2026-06-24 09:28:07 +00:00
parent e50308789c
commit 5ee83f17a1
2 changed files with 5 additions and 3 deletions
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src/lerobot/policies/lingbot_va/configuration_lingbot_va.py
+4 -2
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@@ -156,8 +156,10 @@ class LingBotVAConfig(PreTrainedConfig):
return ConstantWithWarmupSchedulerConfig(num_warmup_steps=self.scheduler_warmup_steps) return ConstantWithWarmupSchedulerConfig(num_warmup_steps=self.scheduler_warmup_steps)
@property @property
def observation_delta_indices(self) -> None: def observation_delta_indices(self) -> list[int]:
return None 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 @property
def action_delta_indices(self) -> list[int]: def action_delta_indices(self) -> list[int]:
src/lerobot/policies/lingbot_va/modeling_lingbot_va.py
+1 -1
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@@ -1395,7 +1395,7 @@ class LingBotVAPolicy(PreTrainedPolicy):
pred = self.transformer(input_dict, train_mode=True) pred = self.transformer(input_dict, train_mode=True)
latent_loss, action_loss = self._flow_matching_loss(input_dict, pred) latent_loss, action_loss = self._flow_matching_loss(input_dict, pred)
loss = latent_loss + action_loss 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]: def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict | None]:
"""Training forward: dual-stream flow-matching loss. """Training forward: dual-stream flow-matching loss.