add

src/lerobot/configs/datasets.py

@@ -1,4 +1,4 @@
-from lerobot.common.constants import ACTION, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3, OBS_STATE, OBS_IMAGE_4, TASK, ROBOT
+from lerobot.constants import ACTION, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3, OBS_STATE, OBS_IMAGE_4, TASK, ROBOT_TYPE
 
 IMAGES_ORDER = {
     OBS_IMAGE: 0,
@@ -16,9 +16,9 @@ ROBOT_TYPE_KEYS_MAPPING = {
     "lerobot/taco_play": "static_single_arm_7statedim",
 }
 TRAINING_FEATURES = {
-    0: [ACTION, OBS_STATE, TASK, ROBOT, OBS_IMAGE],
+    0: [ACTION, OBS_STATE, TASK, ROBOT_TYPE, OBS_IMAGE],
-    1: [ACTION, OBS_STATE, TASK, ROBOT, OBS_IMAGE, OBS_IMAGE_2],
+    1: [ACTION, OBS_STATE, TASK, ROBOT_TYPE, OBS_IMAGE, OBS_IMAGE_2],
-    2: [ACTION, OBS_STATE, TASK, ROBOT, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3],
+    2: [ACTION, OBS_STATE, TASK, ROBOT_TYPE, OBS_IMAGE, OBS_IMAGE_2, OBS_IMAGE_3],
 }
 # Map to "observation.state", "action", "observation.image", etc.
 FEATURE_KEYS_MAPPING = {

src/lerobot/policies/factory.py

@@ -32,6 +32,7 @@ from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
+from lerobot.policies.smolvla2.configuration_smolvla2 import SmolVLA2Config
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 
@@ -74,6 +75,10 @@ def get_policy_class(name: str) -> PreTrainedPolicy:
         from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 
         return SmolVLAPolicy
+    elif name == "smolvla2":
+        from lerobot.policies.smolvla2.modeling_smolvla2 import SmolVLA2Policy
+
+        return SmolVLA2Policy
     else:
         raise NotImplementedError(f"Policy with name {name} is not implemented.")
 
@@ -95,6 +100,8 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
         return SACConfig(**kwargs)
     elif policy_type == "smolvla":
         return SmolVLAConfig(**kwargs)
+    elif policy_type == "smolvla2":
+        return SmolVLA2Config(**kwargs)
     elif policy_type == "reward_classifier":
         return RewardClassifierConfig(**kwargs)
     else:

src/lerobot/policies/smolvla2/configuration_smolvla2.py

@@ -14,8 +14,8 @@
 
 from dataclasses import dataclass, field
 
-from lerobot.common.optim.optimizers import AdamWConfig
+from lerobot.optim.optimizers import AdamWConfig
-from lerobot.common.optim.schedulers import (
+from lerobot.optim.schedulers import (
     CosineDecayWithWarmupSchedulerConfig,
 )
 from lerobot.configs.policies import PreTrainedConfig

src/lerobot/policies/smolvla2/modeling_smolvla2.py

@@ -64,18 +64,18 @@ import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
 from transformers import AutoProcessor
 
-from lerobot.common.constants import ACTION, OBS_STATE
+from lerobot.constants import ACTION, OBS_STATE
-from lerobot.common.policies.normalize import (
+from lerobot.policies.normalize import (
     Normalize,
     Unnormalize,
 )
-from lerobot.common.policies.pretrained import PreTrainedPolicy
+from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.common.policies.smolvla2.configuration_smolvla2 import SmolVLA2Config
+from lerobot.policies.smolvla2.configuration_smolvla2 import SmolVLA2Config
-from lerobot.common.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel
+from lerobot.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel
-from lerobot.common.policies.utils import (
+from lerobot.policies.utils import (
     populate_queues,
 )
-from lerobot.common.utils.utils import get_safe_dtype
+from lerobot.utils.utils import get_safe_dtype
 from lerobot.datasets import IMAGES_ORDER
 
 # Matches ".soNNN", optionally followed by "-something", up to the "_buffer_" marker