Merge branch 'main' into feat/add-xvla

docs/source/async.mdx

@@ -196,7 +196,7 @@ client_cfg = RobotClientConfig(
     server_address="localhost:8080",
     policy_device="mps",
     policy_type="smolvla",
-    pretrained_name_or_path="fracapuano/smolvla_async",
+    pretrained_name_or_path="<user>/smolvla_async",
     chunk_size_threshold=0.5,
     actions_per_chunk=50,  # make sure this is less than the max actions of the policy
 )

docs/source/envhub_leisaac.mdx

@@ -139,7 +139,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so101_leader,
 )
-from lerobot.utils.robot_utils import busy_wait
+from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging
 from lerobot.envs.factory import make_env
 
@@ -196,7 +196,7 @@ def teleop_loop(teleop: Teleoperator, env: gym.Env, fps: int):
             obs, info = env.reset()
 
         dt_s = time.perf_counter() - loop_start
-        busy_wait(1 / fps - dt_s)
+        precise_sleep(1 / fps - dt_s)
         loop_s = time.perf_counter() - loop_start
         print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
 

docs/source/il_robots.mdx

@@ -393,7 +393,7 @@ import time
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
 from lerobot.robots.so100_follower.so100_follower import SO100Follower
-from lerobot.utils.robot_utils import busy_wait
+from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
 
 episode_idx = 0
@@ -415,7 +415,7 @@ for idx in range(dataset.num_frames):
     }
     robot.send_action(action)
 
-    busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
+    precise_sleep(1.0 / dataset.fps - (time.perf_counter() - t0))
 
 robot.disconnect()
 ```