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Merge branch 'main' into feature/add-multitask-dit

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This commit is contained in:
Bryson Jones
2026-02-09 19:38:33 -08:00
committed by GitHub
parent cc4377c346 489cb7b6b9
commit 6243b70239
2 changed files with 5 additions and 5 deletions
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src/lerobot/policies/smolvla/modeling_smolvla.py
+3 -3
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@@ -378,16 +378,16 @@ class SmolVLAPolicy(PreTrainedPolicy):
actions_is_pad = batch.get("actions_id_pad") actions_is_pad = batch.get("actions_id_pad")
loss_dict = {} loss_dict = {}
losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time) losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)
loss_dict["losses_after_forward"] = losses.clone() loss_dict["losses_after_forward"] = losses.clone().mean().item()
if actions_is_pad is not None: if actions_is_pad is not None:
in_episode_bound = ~actions_is_pad in_episode_bound = ~actions_is_pad
losses = losses * in_episode_bound.unsqueeze(-1) losses = losses * in_episode_bound.unsqueeze(-1)
loss_dict["losses_after_in_ep_bound"] = losses.clone() loss_dict["losses_after_in_ep_bound"] = losses.clone().mean().item()
# Remove padding # Remove padding
losses = losses[:, :, : self.config.max_action_dim] losses = losses[:, :, : self.config.max_action_dim]
loss_dict["losses_after_rm_padding"] = losses.clone() loss_dict["losses_after_rm_padding"] = losses.clone().mean().item()
if reduction == "none": if reduction == "none":
# Return per-sample losses (B,) by averaging over time and action dims # Return per-sample losses (B,) by averaging over time and action dims
src/lerobot/scripts/lerobot_setup_can.py
+2 -2
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@@ -45,7 +45,7 @@ from dataclasses import dataclass, field
import draccus import draccus
from lerobot.utils.import_utils import is_package_available from lerobot.utils.import_utils import _can_available
MOTOR_NAMES = { MOTOR_NAMES = {
0x01: "joint_1", 0x01: "joint_1",
@@ -336,7 +336,7 @@ def run_speed(cfg: CANSetupConfig):
@draccus.wrap() @draccus.wrap()
def setup_can(cfg: CANSetupConfig): def setup_can(cfg: CANSetupConfig):
if not is_package_available("can"): if not _can_available:
print("Error: python-can not installed. Install with: pip install python-can") print("Error: python-can not installed. Install with: pip install python-can")
sys.exit(1) sys.exit(1)