dino v2

src/lerobot/policies/rlearn/configuration_rlearn.py

@@ -33,12 +33,14 @@ class RLearNConfig(PreTrainedConfig):
       - Per-timestep reward logits or a single-step reward logit.
 
     Notes:
-      - This is the initial architecture. It uses frozen vision/text encoders
+      - This follows the ReWiND paper architecture. It uses frozen vision/text encoders
-        (e.g. SigLIP2) and trains a lightweight temporal aggregator + head.
+        (DINO v3 for vision, sentence-transformers for language) and trains a 
+        lightweight temporal aggregator + head.
     """
 
-    # Encoders
+    # Encoders - Using DINOv2 (base) for vision and sentence-transformers for text (ReWiND paper)
-    model_name: str = "google/siglip2-base-patch16-256"
+    vision_model_name: str = "facebook/dinov2-base"
+    text_model_name: str = "sentence-transformers/all-MiniLM-L12-v2"
     freeze_backbones: bool = True
 
     # Temporal aggregator

src/lerobot/policies/rlearn/evaluation.py

@@ -323,8 +323,8 @@ class RLearnEvaluator:
 
         T, C, H, W = frames.shape
 
-        # Expected input size for SigLIP2 is typically 256x256
+        # Expected input size for DINO v3 is 224x224
-        target_size = 256
+        target_size = 224
 
         # Resize frames if needed
         if H != target_size or W != target_size:
@@ -402,12 +402,12 @@ class RLearnEvaluator:
                     if len(img.shape) == 3 and img.shape[-1] in [1, 3, 4]:
                         img = img.permute(2, 0, 1)  # HWC -> CHW
 
-                    # Resize to expected input size (256x256 for SigLIP2) BEFORE stacking
+                    # Resize to expected input size (224x224 for DINO v3) BEFORE stacking
-                    if img.shape[-2:] != (256, 256):
+                    if img.shape[-2:] != (224, 224):
                         import torch.nn.functional as F
 
                         img = F.interpolate(
-                            img.unsqueeze(0), size=(256, 256), mode="bilinear", align_corners=False
+                            img.unsqueeze(0), size=(224, 224), mode="bilinear", align_corners=False
                         ).squeeze(0)
 
                     # Normalize to [0, 1] if needed
@@ -527,12 +527,12 @@ class RLearnEvaluator:
                     if len(img.shape) == 3 and img.shape[-1] in [1, 3, 4]:
                         img = img.permute(2, 0, 1)
 
-                    # Resize to expected input size (256x256 for SigLIP2)
+                    # Resize to expected input size (224x224 for DINO v3)
-                    if img.shape[-2:] != (256, 256):
+                    if img.shape[-2:] != (224, 224):
                         import torch.nn.functional as F
 
                         img = F.interpolate(
-                            img.unsqueeze(0), size=(256, 256), mode="bilinear", align_corners=False
+                            img.unsqueeze(0), size=(224, 224), mode="bilinear", align_corners=False
                         ).squeeze(0)
 
                     # Normalize to [0, 1] if needed

src/lerobot/policies/rlearn/modeling_rlearn.py

@@ -17,7 +17,7 @@
 """
 RLearN: Video-Language Conditioned Reward Model (ReWiND Implementation)
 
-This implementation follows the ReWiND paper approach:
+This implementation follows the ReWiND paper approach (arXiv:2505.10911v1):
 - Automatically generates linear progress labels (0 to 1) for each episode
 - No need for pre-annotated rewards in the dataset
 - Applies video rewinding augmentation to create synthetic failure trajectories
@@ -33,7 +33,7 @@ High-level Architecture
         |  per-frame encode
         v
   +------------------------------+
-  |  Vision Encoder (frozen)     |  e.g. SigLIP2 vision tower
+  |  Vision Encoder (frozen)     |  e.g. DINOv2 (base)
   +------------------------------+
         |s
         |  pooled per-frame embeddings (BT, H_v)
@@ -46,7 +46,7 @@ High-level Architecture
                                     |                 |
                                     |                 v
                                     |      +------------------------------+
-                                    |      |  Text Encoder (frozen)       |  e.g. SigLIP2 text tower
+                                    |      |  Text Encoder (frozen)       |  e.g. sentence-transformers
                                     |      +------------------------------+
                                     |                 |
                                     |                 |  pooled text embedding (B, H_t)
@@ -67,10 +67,8 @@ High-level Architecture
   Output
     - reward_logits: (B, T', 1)  with T' ≤ T (affected by stride and frame dropout)
 
-Training
-  - Loss: composite loss with progress regression, spatial-aware InfoNCE, and ReWiND reversible ranking
-
 Notes
+  - Uses DINOv2 (base, ~ViT-B) for vision and sentence-transformers (all-MiniLM-L12-v2) for text encoding.
   - Backbones (vision/text) are frozen by default; only projections, temporal module, and head are trainable.
   - Stride/frame dropout applied during training can subsample timesteps.
 """
@@ -91,8 +89,8 @@ from lerobot.policies.rlearn.configuration_rlearn import RLearNConfig
 class RLearNPolicy(PreTrainedPolicy):
     """Video-language conditioned reward model.
 
-    - Visual encoder: frozen SigLIP2 (via transformers AutoModel), returns per-frame embeddings.
+    - Visual encoder: frozen DINOv2 (base), returns per-frame embeddings.
-    - Text encoder: frozen SigLIP2 text tower, returns a language embedding.
+    - Text encoder: frozen sentence-transformers (all-MiniLM-L12-v2), returns a language embedding.
     - Temporal module: causal transformer over time that cross-attends to language embedding.
     - Output: per-timestep reward logits; trainable small head.
     """
@@ -105,24 +103,20 @@ class RLearNPolicy(PreTrainedPolicy):
         self.config = config
         self.episode_data_index = episode_data_index  # Store episode boundaries for progress calculation
 
-        # Encoders
+        # Encoders - ReWiND paper setup: DINOv2 for vision, sentence-transformers for text
-        from transformers import AutoModel, AutoProcessor
+        from transformers import AutoImageProcessor, AutoModel
-
+        from sentence_transformers import SentenceTransformer
-        self.vision_text_model = AutoModel.from_pretrained(config.model_name, trust_remote_code=True)
+        
-        self.processor = AutoProcessor.from_pretrained(config.model_name, trust_remote_code=True)
+        # Load DINOv2 (base) vision encoder with its processor
-
+        self.vision_processor = AutoImageProcessor.from_pretrained(config.vision_model_name)
-        # Detect towers
+        self.vision_encoder = AutoModel.from_pretrained(config.vision_model_name)
-        if hasattr(self.vision_text_model, "vision_model") and hasattr(self.vision_text_model, "text_model"):
+        
-            self.vision_encoder = self.vision_text_model.vision_model
+        # Load sentence-transformers text encoder
-            self.text_encoder = self.vision_text_model.text_model
+        self.text_encoder = SentenceTransformer(config.text_model_name)
-            self.vision_hidden = getattr(self.vision_text_model.config, "vision_config", None).hidden_size
+        
-            self.text_hidden = getattr(self.vision_text_model.config, "text_config", None).hidden_size
+        # DINOv2-base has 768 hidden size, all-MiniLM-L12-v2 has 384
-        else:
+        self.vision_hidden = 768  # DINOv2-base
-            # Fallback if AutoModel exposes pooled outputs directly (rare for SigLIP2)
+        self.text_hidden = 384  # all-MiniLM-L12-v2
-            self.vision_encoder = self.vision_text_model
-            self.text_encoder = self.vision_text_model
-            self.vision_hidden = getattr(self.vision_text_model.config, "hidden_size", 768)
-            self.text_hidden = getattr(self.vision_text_model.config, "hidden_size", 768)
 
         if config.freeze_backbones:
             for p in self.vision_encoder.parameters():
@@ -208,33 +202,46 @@ class RLearNPolicy(PreTrainedPolicy):
         frames = frames[:, idx]
         B, T_eff, C, H, W = frames.shape  # NEW: effective length after stride
 
-        # Encode language
+        # Encode language using sentence-transformers
         lang_emb = encode_language(
-            batch.get(OBS_LANGUAGE, None), self.text_encoder, self.processor, batch_size=B
+            batch.get(OBS_LANGUAGE, None), self.text_encoder, batch_size=B
         )
+        # Ensure embeddings are normal tensors on the correct device (not inference tensors)
+        lang_emb = lang_emb.detach().clone().to(self.text_proj.weight.device)
         lang_emb = self.text_proj(lang_emb)  # (B, D)
 
-        # Use the HF processor to standardize size & normalization
+        # Process frames with DINOv2
         # Flatten (B, T_eff, C, H, W) -> (BT, C, H, W)
         BT = B * T_eff
-        flat = frames.reshape(BT, C, H, W).detach().cpu()
+        flat = frames.reshape(BT, C, H, W)
 
-        # Convert to uint8 HWC numpy (processor prefers PIL/np)
+        # Convert to list of PIL images or numpy arrays for the processor
-        # If already in [0,1], scale to [0,255]
+        # DINOv2 processor expects images in HWC format
-        if flat.dtype != torch.uint8:
+        images_list = []
-            if flat.numel() > 0 and float(flat.max()) <= 1.0:
+        for i in range(BT):
-                flat = flat * 255.0
+            img = flat[i]  # (C, H, W)
-            flat = flat.clamp(0, 255).round().to(torch.uint8)
+            # Convert to HWC format
+            img = img.permute(1, 2, 0)  # (H, W, C)
+            
+            # Convert to numpy if needed
+            if img.dtype == torch.uint8:
+                img = img.cpu().numpy()
+            else:
+                # Convert to uint8 range
+                img = (img.clamp(0, 1) * 255).to(torch.uint8).cpu().numpy()
+            
+            images_list.append(img)
+        
+        # Process with DINOv2 processor
+        processed = self.vision_processor(images=images_list, return_tensors="pt")
+        pixel_values = processed["pixel_values"].to(next(self.vision_encoder.parameters()).device)
 
-        images = [flat[k].permute(1, 2, 0).numpy() for k in range(flat.size(0))]
+        # Encode frames through DINOv2
+        vision_outputs = self.vision_encoder(pixel_values)
 
-        proc_out = self.processor(images=images, return_tensors="pt")
+        # Extract CLS tokens for temporal modeling  
-        pixel_values = proc_out["pixel_values"].to(next(self.vision_encoder.parameters()).device)
+        # DINOv2 outputs last_hidden_state of shape (batch_size, sequence_length, hidden_size)
-
+        # The CLS token is the first token
-        # Encode frames through visual tower per frame
-        vision_outputs = self.vision_encoder(pixel_values=pixel_values)
-
-        # Extract CLS tokens for temporal modeling
         if hasattr(vision_outputs, "last_hidden_state"):
             cls_tokens = vision_outputs.last_hidden_state[:, 0]  # (BT, D_vision)
         else:
@@ -302,38 +309,45 @@ class RLearNPolicy(PreTrainedPolicy):
                 idx = torch.tensor([0], device=frames.device)
         frames = frames[:, idx]
 
-        # Encode language
+        # Encode language using sentence-transformers
         lang_emb = encode_language(
-            batch.get(OBS_LANGUAGE, None), self.text_encoder, self.processor, batch_size=B
+            batch.get(OBS_LANGUAGE, None), self.text_encoder, batch_size=B
         )
+        # Ensure embeddings are normal tensors on the correct device (not inference tensors)
+        lang_emb = lang_emb.detach().clone().to(self.text_proj.weight.device)
         lang_emb = self.text_proj(lang_emb)  # (B, D)
 
-        # Encode frames through visual tower per frame
+        # Encode frames through DINOv2 visual encoder
         # Flatten time for batched encode
         BT = B * frames.shape[1]
         flat = frames.reshape(BT, C, H, W)
 
-        # Use HF processor to properly resize and normalize images
+        # Convert to list of PIL images or numpy arrays for the processor
-        # Convert to CPU for processing, then move back to device
+        # DINOv2 processor expects images in HWC format
-        flat_cpu = flat.detach().cpu()
+        images_list = []
+        for i in range(BT):
+            img = flat[i]  # (C, H, W)
+            # Convert to HWC format
+            img = img.permute(1, 2, 0)  # (H, W, C)
+            
+            # Convert to numpy if needed
+            if img.dtype == torch.uint8:
+                img = img.cpu().numpy()
+            else:
+                # Convert to uint8 range
+                img = (img.clamp(0, 1) * 255).to(torch.uint8).cpu().numpy()
+            
+            images_list.append(img)
+        
+        # Process with DINOv2 processor
+        processed = self.vision_processor(images=images_list, return_tensors="pt")
+        pixel_values = processed["pixel_values"].to(next(self.vision_encoder.parameters()).device)
 
-        # Convert to uint8 HWC numpy format expected by processor
+        # Encode through DINOv2 model
-        if flat_cpu.dtype != torch.uint8:
+        vision_outputs = self.vision_encoder(pixel_values)
-            if flat_cpu.numel() > 0 and float(flat_cpu.max()) <= 1.0:
-                flat_cpu = flat_cpu * 255.0
-            flat_cpu = flat_cpu.clamp(0, 255).round().to(torch.uint8)
-
-        # Convert to list of numpy arrays
-        images = [flat_cpu[k].permute(1, 2, 0).numpy() for k in range(flat_cpu.size(0))]
-
-        # Process with HF processor (resizes to 256x256 and normalizes)
-        proc_out = self.processor(images=images, return_tensors="pt")
-        pixel_values = proc_out["pixel_values"].to(next(self.vision_encoder.parameters()).device)
-
-        # Encode through vision model
-        vision_outputs = self.vision_encoder(pixel_values=pixel_values)
 
         # Extract CLS token for temporal modeling
+        # DINOv2 outputs last_hidden_state of shape (batch_size, sequence_length, hidden_size)
         if hasattr(vision_outputs, "last_hidden_state"):
             cls_tokens = vision_outputs.last_hidden_state[:, 0]  # (BT, D) - CLS token
         else:
@@ -430,48 +444,6 @@ class RLearNPolicy(PreTrainedPolicy):
 
                 # Apply stride/dropout indexing to match the processed frames
                 target = target[:, idx]
-
-            elif "index" in batch and hasattr(self, "episode_data_index"):
-                # Fallback: Use global index if available
-                global_indices = batch["index"]  # Shape: (B,)
-
-                # For each index, find which episode it belongs to and its position
-                progress_values = []
-
-                for global_idx in global_indices:
-                    # Find which episode this index belongs to
-                    episode_starts = self.episode_data_index["from"]
-                    episode_ends = self.episode_data_index["to"]
-
-                    # Find the episode by checking which range the index falls into
-                    episode_idx = None
-                    frame_in_episode = None
-                    for ep_idx in range(len(episode_starts)):
-                        if episode_starts[ep_idx] <= global_idx < episode_ends[ep_idx]:
-                            episode_idx = ep_idx
-                            frame_in_episode = global_idx.item() - episode_starts[ep_idx].item()
-                            break
-
-                    if episode_idx is not None:
-                        # Calculate position within episode
-                        ep_start = episode_starts[episode_idx].item()
-                        ep_end = episode_ends[episode_idx].item()
-                        ep_length = ep_end - ep_start
-
-                        # Progress from 0 to 1 within the episode
-                        progress = frame_in_episode / max(1, ep_length - 1)
-                    else:
-                        # Fallback if we can't find the episode (shouldn't happen)
-                        progress = 0.5
-
-                    progress_values.append(progress)
-
-                # For temporal window, use simplified linear progress
-                # (proper calculation would need all frame indices in the window)
-                T_effective = len(idx)
-                target = torch.tensor(progress_values, device=values.device, dtype=values.dtype)
-                target = target.unsqueeze(1).expand(B, T_effective)  # Simple expansion
-
             else:
                 raise ValueError(
                     "No episode information found in batch. Please ensure 'episode_index' and 'frame_index' keys are present."
@@ -698,8 +670,9 @@ def extract_visual_sequence(batch: dict[str, Tensor], target_seq_len: int = None
 
 
 def encode_language(
-    language_input: Tensor | list | str | None, text_encoder, processor, batch_size: int
+    language_input: Tensor | list | str | None, text_encoder, batch_size: int
 ) -> Tensor:
+    """Encode language using sentence-transformers (ReWiND paper setup)."""
     # language_input can be: list[str] length B, or None
     if language_input is None:
         texts = [""] * batch_size
@@ -709,16 +682,12 @@ def encode_language(
         # Single string for the batch
         texts = [str(language_input)] * batch_size
 
-    inputs = processor(text=texts, padding=True, return_tensors="pt")
+    # For sentence-transformers, we can directly encode
-    inputs = {k: v.to(next(text_encoder.parameters()).device) for k, v in inputs.items()}
+    # Returns tensor of shape (batch_size, embedding_dim)
-    outputs = text_encoder(**inputs)
+    device = next(iter(text_encoder.parameters())).device if hasattr(text_encoder, 'parameters') else 'cpu'
-    if hasattr(outputs, "pooler_output"):
+    embeddings = text_encoder.encode(texts, convert_to_tensor=True, device=device)
-        emb = outputs.pooler_output
+    
-    elif hasattr(outputs, "last_hidden_state"):
+    return embeddings
-        emb = outputs.last_hidden_state[:, 0]
-    else:
-        raise RuntimeError("Unsupported text encoder output structure")
-    return emb
 
 
 def apply_video_rewind(frames: Tensor, rewind_prob: float = 0.5) -> tuple[Tensor, Tensor]:

src/lerobot/policies/rlearn/processor_rlearn.py

@@ -60,9 +60,9 @@ def make_rlearn_processor(
         ),
         ToBatchProcessor(),
         RLearnLanguageFromTaskProcessor(),
-        # Use the same model name for tokenizer to keep vocab aligned with text tower
+        # Use the text model name for tokenizer to keep vocab aligned with text tower
         TokenizerProcessor(
-            tokenizer_name=config.model_name,
+            tokenizer_name=config.text_model_name,
             max_length=128,
             padding="max_length",
             truncation=True,

src/lerobot/policies/rlearn/rlearn_plan.md

@@ -31,7 +31,9 @@ Little less relevant but still similar papers:
 Input should be the current image or whole video and the task goal specified in text/language. Output is current reward.
 Archiutecture:
 _ inputs: video o1:T (or current o1:t), language z;
-_ google/siglip2-large-patch16-256: https://huggingface.co/google/siglip2-large-patch16-256 \* Temporal module: small causal transformer (“cross-modal sequential aggregator”), with first-frame positional embedding (to avoid position cheating), frame-dropout, and stride sampling; outputs per-timestep logits.
+_ DINO v3 ViT-B/16 (86M params): https://huggingface.co/facebook/dinov3-vitb16-pretrain-lvd1689m for vision encoding
+_ sentence-transformers/all-MiniLM-L12-v2: https://huggingface.co/sentence-transformers/all-MiniLM-L12-v2 for text encoding
+\* Temporal module: small causal transformer ("cross-modal sequential aggregator"), with first-frame positional embedding (to avoid position cheating), frame-dropout, and stride sampling; outputs per-timestep logits.
 
 Loss: See this chatgpt thread: https://chatgpt.com/s/t_68999a50a0b081919abc365cdd205e01
 
@@ -59,59 +61,6 @@ _ GTEA+ Gaze: https://cbs.ic.gatech.edu/fpv/
 _ YouCook2 dataset
 _ HOWTO100M: https://www.di.ens.fr/willow/research/howto100m/
 
-### Implemented Loss (Spatial-Aware Composite Loss)
-
-Our implementation uses a **composite loss with spatial awareness** to address the limitations of standard contrastive learning (e.g., CLIP's inability to distinguish "move left" vs "move right"). The loss has three components:
-
-##### 1) Progress Regression Loss (L_prog)
-
-Predicts normalized progress values for each timestep:
-
-$$
-L_{\text{prog}} = \text{MSE}(\sigma(z(V_t)), y_t)
-$$
-
-where $z(·)$ is z-score normalization, $\sigma$ is sigmoid, and $y_t \in [0,1]$ is the progress label.
-**Purpose:** Grounds the model in actual task progress, not just visual-language similarity.
-
-##### 2) Spatial-Aware InfoNCE Loss (L_spatial_nce)
-
-Instead of using pooled features, we:
-
-- Extract spatial patch features from SigLIP2's last_hidden_state (e.g., 16×16 patches)
-- Use cross-attention where language queries attend to relevant spatial regions
-- Compute contrastive loss on the attended spatial features
-
-$$
-L_{\text{spatial-nce}} = -\log \frac{\exp(s_{ii}/\tau)}{\sum_j \exp(s_{ij}/\tau)}
-$$
-
-where $s_{ij}$ is the similarity between spatially-attended features from trajectory $i$ and language $j$.
-**Purpose:** Preserves spatial information that pooling discards, enabling distinction of spatial relationships.
-
-##### 3) ReWiND Reversible Ranking Loss (L_rewind)
-
-Based on ReWiND's key insight: learn from both forward AND reversed trajectories.
-The loss has two components:
-
-- **Forward ranking**: Sample (far, near) pairs where near is later in time, enforce $V_{\text{near}} > V_{\text{far}}$
-- **Reverse ranking**: Reverse the trajectory and invert progress labels, then apply same ranking
-
-$$
-L_{\text{rewind}} = L_{\text{forward}} + L_{\text{reverse}}
-$$
-
-where both use: $\text{softplus}(m - (V_{\text{near}} - V_{\text{far}}))$
-
-**Purpose:** By training on reversed trajectories with inverted progress, the model learns to distinguish progress from undoing progress. This is ReWiND's core contribution - understanding that tasks can be reversible.
-
-##### Total Loss:
-
-$$
-L = \lambda_{\text{prog}} L_{\text{prog}} + \lambda_{\text{spatial-nce}} L_{\text{spatial-nce}} + \lambda_{\text{rewind}} L_{\text{rewind}}
-$$
-
-Default weights: $\lambda_{\text{prog}}=1.0$, $\lambda_{\text{spatial-nce}}=0.5$, $\lambda_{\text{rewind}}=0.4$
 
 ### TODOs:
 
@@ -126,17 +75,20 @@ Default weights: $\lambda_{\text{prog}}=1.0$, $\lambda_{\text{spatial-nce}}=0.5$
 - Implement on-the-fly progress label generation (no need for pre-annotated rewards) [x]
 - Try different losses
   - Only rewind loss [x]
+  - Try DINO v2 as encoder Base 86 M: with https://huggingface.co/sentence-transformers/all-MiniLM-L12-v2 [x]
+  - check code is same as rewind repo code (architecture and trainign details) []
   - Test only rewind loss (evaluate) []
-  - Check rewind implementatyion by hand []
+  - Check rewind implementation by hand/cleanup []
   - Only vlc loss then eval []
-  - Vlc + rewind loss then eval []
+  - Vlc + Rewind loss then eval []
 - Cleanup code []
 - Convert python -m lerobot.datasets.v21.convert_dataset_v20_to_v21 --repo-id=IPEC-COMMUNITY/bc_z_lerobot and train on 1 percent
 - Then on 10 percent
-- Try DINO v3 as encoder Base 86 M: https://huggingface.co/facebook/dinov3-vitb16-pretrain-lvd1689m with HuggingFaceTB/SmolLM2-135M-Instruct ? []
+- Ablation dino v2 vs dino v3 base 86 M
 - Add more artificial text to dataset generated by vlm (google gemini) []
   - See google gemini vlm caption [] https://gemini.google.com/app/7e332ffaf32580f2
   - Multiple captions per video, creat method to generate as much data as possible etc [] https://arxiv.org/abs/2508.13446, https://arxiv.org/pdf/2412.04453
 - How can we improve spatial aware learning? co generating captions for each frame with language decoder?
 - Extend evaluation []
 - Add other datasets mentioned above []
+- Ablation for size vision encoder, language encoder, temporal head

tests/policies/rlearn/test_rlearn.py

@@ -25,10 +25,12 @@ from tests.utils import require_package
 
 
 @require_package("transformers")
+@require_package("sentence_transformers")
 def test_rlearn_instantiation_and_forward_tensor_batch():
     """Instantiate RLearN and run a forward pass with a (B, T, C, H, W) tensor input using a real model and real text."""
     cfg = RLearNConfig(
-        model_name="google/siglip2-large-patch16-256",
+        vision_model_name="facebook/dinov3-vitb16-pretrain-lvd1689m",
+        text_model_name="sentence-transformers/all-MiniLM-L12-v2",
         push_to_hub=False,
         freeze_backbones=True,
     )
@@ -54,10 +56,12 @@ def test_rlearn_instantiation_and_forward_tensor_batch():
 
 
 @require_package("transformers")
+@require_package("sentence_transformers")
 def test_rlearn_instantiation_and_forward_list_batch_with_language():
     """Instantiate RLearN and run a forward pass with a list-of-frames input and real language using a real model."""
     cfg = RLearNConfig(
-        model_name="google/siglip2-large-patch16-256",
+        vision_model_name="facebook/dinov3-vitb16-pretrain-lvd1689m",
+        text_model_name="sentence-transformers/all-MiniLM-L12-v2",
         push_to_hub=False,
         freeze_backbones=True,
     )
@@ -84,18 +88,17 @@ def test_rlearn_instantiation_and_forward_list_batch_with_language():
 
 
 @require_package("transformers")
+@require_package("sentence_transformers")
 def test_rlearn_composite_loss_shapes_and_terms():
     """Smoke test composite loss: checks presence of terms and valid gradients."""
     cfg = RLearNConfig(
-        model_name="google/siglip2-large-patch16-256",
+        vision_model_name="facebook/dinov3-vitb16-pretrain-lvd1689m",
+        text_model_name="sentence-transformers/all-MiniLM-L12-v2",
         push_to_hub=False,
         freeze_backbones=True,
-        loss_type="composite",
+        use_video_rewind=True,
-        lambda_prog=1.0,
+        rewind_prob=0.5,
-        lambda_spatial_nce=0.5,
+        use_mismatch_loss=True,
-        lambda_rewind=0.4,
-        num_ranking_pairs=32,  # Fewer pairs for testing
-        last_k_for_nce=2,
     )
     cfg.input_features = {
         "observation.image": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
@@ -117,17 +120,17 @@ def test_rlearn_composite_loss_shapes_and_terms():
 
     loss, logs = policy.forward(batch)
     assert isinstance(loss, torch.Tensor) and torch.isfinite(loss)
-    # Expect composite terms present with spatial awareness and ReWiND
+    # Expect ReWiND loss terms (progress and mismatch)
-    assert "loss_prog" in logs
+    assert "loss_progress" in logs
-    assert "loss_spatial_nce" in logs
+    assert "loss_mismatch" in logs
-    assert "loss_rewind_forward" in logs
-    assert "loss_rewind_reverse" in logs
 
 
 @require_package("transformers")
+@require_package("sentence_transformers")
 def test_rlearn_preprocessor_tokenizes_and_copies_task():
     cfg = RLearNConfig(
-        model_name="google/siglip2-large-patch16-256",
+        vision_model_name="facebook/dinov3-vitb16-pretrain-lvd1689m",
+        text_model_name="sentence-transformers/all-MiniLM-L12-v2",
         device="cpu",
         push_to_hub=False,
     )
@@ -161,9 +164,11 @@ def test_rlearn_preprocessor_tokenizes_and_copies_task():
 
 
 @require_package("transformers")
+@require_package("sentence_transformers")
 def test_rlearn_preprocessor_string_task_and_to_batch():
     cfg = RLearNConfig(
-        model_name="google/siglip2-large-patch16-256",
+        vision_model_name="facebook/dinov3-vitb16-pretrain-lvd1689m",
+        text_model_name="sentence-transformers/all-MiniLM-L12-v2",
         device="cpu",
         push_to_hub=False,
     )
@@ -194,14 +199,16 @@ def test_rlearn_preprocessor_string_task_and_to_batch():
 
 
 @require_package("transformers")
+@require_package("sentence_transformers")
 def test_rlearn_pipeline_end_to_end_forward():
     """End-to-end: preprocessor + model forward using RLearN pipeline on synthetic data."""
     cfg = RLearNConfig(
-        model_name="google/siglip2-large-patch16-256",
+        vision_model_name="facebook/dinov3-vitb16-pretrain-lvd1689m",
+        text_model_name="sentence-transformers/all-MiniLM-L12-v2",
         device="cpu",
         push_to_hub=False,
         freeze_backbones=True,
-        loss_type="composite",
+        use_video_rewind=True,
     )
     cfg.input_features = {
         "observation.image": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),