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Convert tensors to scalars (#2903)

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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Reece O'Mahoney
2026-02-09 13:46:12 +00:00
committed by GitHub
parent 97e7e0f9ed
commit e14bdf57d0
1 changed files with 3 additions and 3 deletions
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src/lerobot/policies/smolvla/modeling_smolvla.py
+3 -3
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@@ -378,16 +378,16 @@ class SmolVLAPolicy(PreTrainedPolicy):
actions_is_pad = batch.get("actions_id_pad")
loss_dict = {}
losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)
loss_dict["losses_after_forward"] = losses.clone()
loss_dict["losses_after_forward"] = losses.clone().mean().item()
if actions_is_pad is not None:
in_episode_bound = ~actions_is_pad
losses = losses * in_episode_bound.unsqueeze(-1)
loss_dict["losses_after_in_ep_bound"] = losses.clone()
loss_dict["losses_after_in_ep_bound"] = losses.clone().mean().item()
# Remove padding
losses = losses[:, :, : self.config.max_action_dim]
loss_dict["losses_after_rm_padding"] = losses.clone()
loss_dict["losses_after_rm_padding"] = losses.clone().mean().item()
if reduction == "none":
# Return per-sample losses (B,) by averaging over time and action dims