diff --git a/.github/workflows/full_tests.yml b/.github/workflows/full_tests.yml
index 0155eec13..36cc758f5 100644
--- a/.github/workflows/full_tests.yml
+++ b/.github/workflows/full_tests.yml
@@ -64,6 +64,13 @@ jobs:
           lfs: true
           persist-credentials: false
 
+      - name: Free disk space
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf /usr/local/lib/android
+          sudo rm -rf /opt/ghc
+          docker system prune -af || true
+
       - name: Install apt dependencies
         run: |
           sudo apt-get update && sudo apt-get install -y build-essential \
diff --git a/pyproject.toml b/pyproject.toml
index 32fa4108d..f17f798b7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -158,7 +158,7 @@ all = [
     "lerobot[pi]",
     "lerobot[smolvla]",
     # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
-    # "lerobot[xvla]",
+    "lerobot[xvla]",
     "lerobot[hilserl]",
     "lerobot[async]",
     "lerobot[dev]",