From ca4b3d035b6a2861cea5204651f1c753ce42cfed Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Thu, 27 Nov 2025 10:47:57 +0100 Subject: [PATCH] update libero doc --- docs/source/libero.mdx | 5 +++++ src/lerobot/policies/xvla/__init__.py | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/docs/source/libero.mdx b/docs/source/libero.mdx index 14f51ef3b..3617f3b25 100644 --- a/docs/source/libero.mdx +++ b/docs/source/libero.mdx @@ -62,6 +62,11 @@ lerobot-eval \ - Pass a comma-separated list to `--env.task` for multi-suite evaluation. +### Control Mode + +LIBERO now supports two control modes: relative and absolute. This matters because different VLA checkpoints are trained with different mode of action to output hence control parameterizations. +You can switch them with: `env.control_mode = "relative"` and `env.control_mode = "absolute"` + ### Policy inputs and outputs When using LIBERO through LeRobot, policies interact with the environment via **observations** and **actions**: diff --git a/src/lerobot/policies/xvla/__init__.py b/src/lerobot/policies/xvla/__init__.py index 356eb22e4..71b04e76f 100644 --- a/src/lerobot/policies/xvla/__init__.py +++ b/src/lerobot/policies/xvla/__init__.py @@ -1,4 +1,4 @@ -# add domainid +# register the processor steps from lerobot.policies.xvla.processor_xvla import ( XVLAAddDomainIdProcessorStep, XVLAImageNetNormalizeProcessorStep,