From 7baf909e32ce4bd0dba3126f415ac3a0f21661e1 Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Fri, 7 Nov 2025 02:22:47 +0700 Subject: [PATCH] Debug --- src/lerobot/policies/rtc/modeling_rtc.py | 2 +- src/lerobot/policies/smolvla/modeling_smolvla.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/policies/rtc/modeling_rtc.py b/src/lerobot/policies/rtc/modeling_rtc.py index e2e0c02f4..594b57a6f 100644 --- a/src/lerobot/policies/rtc/modeling_rtc.py +++ b/src/lerobot/policies/rtc/modeling_rtc.py @@ -270,7 +270,7 @@ class RTCProcessor: execution_horizon=execution_horizon, ) - return result + return result, x_t def get_prefix_weights(self, start, end, total): start = min(start, end) diff --git a/src/lerobot/policies/smolvla/modeling_smolvla.py b/src/lerobot/policies/smolvla/modeling_smolvla.py index 61e1c1f6c..fbca5c557 100644 --- a/src/lerobot/policies/smolvla/modeling_smolvla.py +++ b/src/lerobot/policies/smolvla/modeling_smolvla.py @@ -806,7 +806,7 @@ class VLAFlowMatching(nn.Module): prev_chunk_left_over = kwargs.get("prev_chunk_left_over") execution_horizon = kwargs.get("execution_horizon") - v_t = self.rtc_processor.denoise_step( + v_t, x_t = self.rtc_processor.denoise_step( x_t=x_t, prev_chunk_left_over=prev_chunk_left_over, inference_delay=inference_delay,