more changres

.github/workflows/documentation-upload-pr.yml

@@ -31,8 +31,7 @@ jobs:
     name: Upload Preview and Comment
     if: >
       github.event.workflow_run.event == 'pull_request' &&
-      github.event.workflow_run.conclusion == 'success' &&
-      github.repository == 'huggingface/lerobot'
+      github.event.workflow_run.conclusion == 'success'
     uses: huggingface/doc-builder/.github/workflows/upload_pr_documentation.yml@main
     with:
       package_name: lerobot

.github/workflows/documentation.yml

@@ -42,9 +42,7 @@ jobs:
   # This job builds and deploys the official documentation.
   build_main_docs:
     name: Build Main Docs
-    if: >
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch') &&
-      github.repository == 'huggingface/lerobot'
+    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
     permissions:
       contents: read
     uses: huggingface/doc-builder/.github/workflows/build_main_documentation.yml@main
@@ -60,7 +58,7 @@ jobs:
   # The result of this job triggers the 'Upload PR Documentation' workflow.
   build_pr_docs:
     name: Build PR Docs
-    if: github.event_name == 'pull_request' && github.repository == 'huggingface/lerobot'
+    if: github.event_name == 'pull_request'
     permissions:
       contents: read
       pull-requests: write

.github/workflows/fast_tests.yml

@@ -45,6 +45,7 @@ permissions:
 env:
   UV_VERSION: "0.8.0"
   PYTHON_VERSION: "3.10"
+  DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
 
 # Ensures that only the latest commit for a PR or branch is built, canceling older runs.
 concurrency:

.github/workflows/nightly.yml

@@ -43,7 +43,6 @@ jobs:
     name: Build CPU Docker for Nightly
     runs-on:
       group: aws-general-8-plus
-    if: github.repository == 'huggingface/lerobot'
     outputs:
       image_tag: ${{ env.DOCKER_IMAGE_NAME_CPU }}
     steps:
@@ -78,7 +77,6 @@ jobs:
     name: Build GPU Docker for Nightly
     runs-on:
       group: aws-general-8-plus
-    if: github.repository == 'huggingface/lerobot'
     outputs:
       image_tag: ${{ env.DOCKER_IMAGE_NAME_GPU }}
     steps:

.github/workflows/release.yml

@@ -29,7 +29,6 @@ jobs:
   build-and-publish:
     name: Build and publish Python distributions
     runs-on: ubuntu-latest
-    if: github.repository == 'huggingface/lerobot'
     outputs:
       version: ${{ steps.extract_info.outputs.tag_version }}
     permissions:

.github/workflows/stale.yml

@@ -45,7 +45,6 @@ jobs:
   stale:
     name: Close Stale Issues and PRs
     runs-on: ubuntu-latest
-    if: github.repository == 'huggingface/lerobot'
     permissions:
       actions: write
       contents: write # only for delete-branch option

.github/workflows/unbound_deps_tests.yml

@@ -43,7 +43,6 @@ jobs:
   full-tests:
     name: Full Unbound Tests
     runs-on: ubuntu-latest
-    if: github.repository == 'huggingface/lerobot'
     env:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface

docs/source/xvla.mdx

@@ -24,7 +24,7 @@ Built from pure Transformer encoders, X-VLA scales naturally with model size and
   <img
     src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture2.png"
     alt="XVLA Architecture 2"
-    style="width: 60%; height: auto;"
+    style="width: 32%; max-width: 450px; height: auto;"
   />
 </p>
 
@@ -120,7 +120,7 @@ Adapted for Google Robot platforms.
 
 ### Recommended Training Configuration
 
-When fine-tuning X-VLA for a new embodiment or task, we recommend not freezing the VLM, and also setting the `policy.dtype=bfloat16` to not hit OOM errors.
+When fine-tuning X-VLA for a new embodiment or task, we recommend the following freezing strategy:
 
 ```bash
 lerobot-train \
@@ -129,26 +129,25 @@ lerobot-train \
   --job_name=xvla_training \
   --policy.path="lerobot/xvla-base" \
   --policy.repo_id="HF_USER/xvla-your-robot" \
-  --policy.dtype=bfloat16 \
   --steps=3000 \
   --policy.device=cuda \
-  --policy.freeze_vision_encoder=false \
-  --policy.freeze_language_encoder=false \
-  --policy.train_policy_transformer=true \
-  --policy.train_soft_prompts=true \
+  --policy.freeze_vision_encoder=True \
+  --policy.freeze_language_encoder=True \
+  --policy.train_policy_transformer=True \
+  --policy.train_soft_prompts=True \
   --policy.action_mode=YOUR_ACTION_MODE
 ```
 
 ### Training Parameters Explained
 
-| Parameter                  | Default | Description                                    |
-| -------------------------- | ------- | ---------------------------------------------- |
-| `freeze_vision_encoder`    | `false` | Do not freeze the VLM vision encoder weights   |
-| `freeze_language_encoder`  | `false` | Do not freeze the VLM language encoder weights |
-| `train_policy_transformer` | `true`  | Allow policy transformer layers to train       |
-| `train_soft_prompts`       | `true`  | Allow soft prompts to train                    |
+| Parameter                  | Default | Description                              |
+| -------------------------- | ------- | ---------------------------------------- |
+| `freeze_vision_encoder`    | `True`  | Freeze the VLM vision encoder weights    |
+| `freeze_language_encoder`  | `True`  | Freeze the VLM language encoder weights  |
+| `train_policy_transformer` | `True`  | Allow policy transformer layers to train |
+| `train_soft_prompts`       | `True`  | Allow soft prompts to train              |
 
-**💡 Best Practice**: For Phase II adaptation to new embodiments, do not freeze the VLM encoders and also train the policy transformer and soft prompts.
+**💡 Best Practice**: For Phase II adaptation to new embodiments, freeze the VLM encoders and only train the policy transformer and soft prompts. This provides excellent sample efficiency with minimal compute.
 
 ### Example: Training on Bimanual Robot
 
@@ -158,15 +157,14 @@ lerobot-train \
   --output_dir=./outputs/xvla_bimanual \
   --job_name=xvla_so101_training \
   --policy.path="lerobot/xvla-base" \
-  --policy.dtype=bfloat16 \
   --policy.repo_id="YOUR_USERNAME/xvla-biso101" \
   --steps=3000 \
   --policy.device=cuda \
   --policy.action_mode=so101_bimanual \
-  --policy.freeze_vision_encoder=false \
-  --policy.freeze_language_encoder=false \
-  --policy.train_policy_transformer=true \
-  --policy.train_soft_prompts=true
+  --policy.freeze_vision_encoder=True \
+  --policy.freeze_language_encoder=True \
+  --policy.train_policy_transformer=True \
+  --policy.train_soft_prompts=True
 ```
 
 💡 **Best Performance:** If you have sufficient computational resources and want to achieve best X-VLA finetuning performance, you should follow the official finetuning strategy:
@@ -174,7 +172,71 @@ lerobot-train \
 **🔥 Full-finetune all components with a custom learning-rate scheme**
 
 To ensure stable optimization, the Vision-Language Model (VLM) must be trained with only 1/10 of the base learning rate, while all other components use the full LR.
-This LR ratio is crucial for achieving strong and stable finetuning performance. This is already done for you by default.
+This LR ratio is crucial for achieving strong and stable finetuning performance.
+To enable this behavior, you must:
+
+1. Implement a custom optimizer and register it in your training config
+
+```
+from dataclasses import dataclass, asdict
+from lerobot.optim.optimizers import OptimizerConfig
+import torch
+
+@OptimizerConfig.register_subclass("xvla-adamw")
+@dataclass
+class XVLAAdamW(OptimizerConfig):
+    lr: float = 1e-4
+    betas: tuple[float, float] = (0.9, 0.99)
+    eps: float = 1e-8
+    weight_decay: float = 0.0
+    grad_clip_norm: float = 10.0
+
+    def build(self, params: dict) -> torch.optim.Optimizer:
+        """
+        Expect `named_parameters()` as input.
+        Apply lr = lr / 10 for all VLM-related parameters.
+        """
+        assert isinstance(params, dict), \
+            "Custom LR optimizer requires `named_parameters()` as inputs."
+        kwargs = asdict(self)
+        kwargs.pop("grad_clip_norm")
+        vlm_group, other_group = [], []
+        for name, p in params.items():
+            if not p.requires_grad:
+                continue
+            if "vlm" in name.lower():
+                vlm_group.append(p)
+            else:
+                other_group.append(p)
+
+        param_groups = [
+            {"params": vlm_group, "lr": self.lr * 0.1, "weight_decay": self.weight_decay * 0.1},
+            {"params": other_group, "lr": self.lr, "weight_decay": self.weight_decay},
+        ]
+
+        return torch.optim.AdamW(param_groups, **kwargs)
+```
+
+2. Modify X-VLA’s get_optim_params to return named parameters
+
+Replace:
+
+```
+def get_optim_params(self) -> dict:
+    """Return only trainable parameters for optimization."""
+    return filter(lambda p: p.requires_grad, self.parameters())
+```
+
+with:
+
+```
+def get_optim_params(self):
+    """Return trainable named parameters."""
+    return filter(lambda kv: kv[1].requires_grad, self.named_parameters())
+```
+
+This ensures the optimizer receives a dict of named parameters, allowing it to correctly detect VLM modules and apply the 1/10 LR rule.
+
 ❕Note
 
 Completely matching the official reported performance may require an additional warm-up LR schedule for soft-prompts, which can bring minor improvements.
@@ -264,26 +326,6 @@ domain_id = 3
 
 The domain_id is automatically added to observations by the `XVLAAddDomainIdProcessorStep` in the preprocessing pipeline.
 
-The `lerobot/xvla-base` model has been trained on the following domain IDs. It is recommended to choose one that most resembles your robot/configuration:
-
-#### Fine-tuning Datasets
-
-| Dataset Name     | Domain ID |
-| ---------------- | --------- |
-| Bridge           | 0         |
-| RT1              | 1         |
-| Calvin           | 2         |
-| libero           | 3         |
-| widowx-air       | 4         |
-| AIR-AGILEX-HQ    | 5         |
-| robotwin2_abs_ee | 6         |
-| robotwin2_clean  | 6         |
-| robocasa-human   | 7         |
-| VLABench         | 8         |
-| AGIBOT-challenge | 9         |
-| AIR-AGILEX       | 10        |
-| AIRBOT           | 18        |
-
 ### 3. Processor Steps
 
 X-VLA requires specific preprocessing and postprocessing steps for proper operation.

examples/dataset/prompt.txt

@@ -0,0 +1,20 @@
+Goal:
+Create a high and low policy, the high policy take obs + text and return text, its a VLM
+The low policy is a VLA that take text returned by the high and ouptut actions
+
+
+High policy is ran every one second or when user send prompt
+
+
+Synthetic data generation:
+D demo -> teleop data with a global task annotation
+D label -> segment data into short skills (one to three seconds)
+D syn: p-gen will create the high level prompt user might gave to p-hi 
+Given D label prompt p-gen to imagine appropriate action, take images, ALL PRIOR skill labels in the episode: ℓ̂₀, …, ℓ̂ₜ₋₁
+
+“Given the scene + all previous steps + current needed skill ℓ̂₅,
+generate a user request that logically leads to ℓ̂₅.”
+
+Train:
+Phi(lt| images, global label) cross entropy - next token predictions
+Plow(At| images, qt, lt)

examples/port_datasets/convert_to_video_parallel.sh

@@ -0,0 +1,141 @@
+#!/bin/bash
+#SBATCH --time=24:00:00
+#SBATCH --partition=hopper-cpu
+#SBATCH --cpus-per-task=96
+#SBATCH --output=/fsx/jade_choghari/logs/launcher_%j.out
+#SBATCH --error=/fsx/jade_choghari/logs/launcher_%j.err
+# Activate conda environment
+# Load conda
+source /fsx/jade_choghari/miniforge3/etc/profile.d/conda.sh
+conda activate lerobot
+set -e  # Exit on error
+
+# Input dataset
+REPO_ID="lerobot"
+ROOT="/fsx/jade_choghari/vlabench-primitive/"
+
+# Output paths
+OUTPUT_DIR="/fsx/jade_choghari/vlabench-primitive-encoded"
+OUTPUT_REPO_ID="vlabench-primitive-encoded"
+LOGS_DIR="/fsx/jade_choghari/logs/convert_video"
+
+# Video encoding settings
+VCODEC="libsvtav1"
+PIX_FMT="yuv420p"
+GOP_SIZE=2
+CRF=30
+FAST_DECODE=0
+
+# Parallelization settings
+NUM_WORKERS=24           # Number of parallel SLURM workers
+NUM_IMAGE_WORKERS=4       # Threads per worker for image saving
+
+# SLURM settings
+PARTITION="hopper-cpu"  # Change to your CPU partition name
+CPUS_PER_TASK=32           # CPUs per worker
+MEM_PER_CPU="4G"          # Memory per CPU
+TIME_LIMIT="24:00:00"     # Time limit per job
+
+###############################################################################
+# STEP 1: Parallel Video Conversion
+###############################################################################
+rm -rf "${OUTPUT_DIR}"
+mkdir -p "${OUTPUT_DIR}"
+
+echo "=============================================="
+echo "STEP 1: Starting parallel video conversion"
+echo "  Workers: ${NUM_WORKERS}"
+echo "  Input: ${REPO_ID} (root: ${ROOT})"
+echo "  Output: ${OUTPUT_DIR}"
+echo "=============================================="
+
+python /admin/home/jade_choghari/lerobot/examples/port_datasets/slurm_convert_to_video.py\
+    --repo-id "${REPO_ID}" \
+    --root "${ROOT}" \
+    --output-dir "${OUTPUT_DIR}" \
+    --output-repo-id "${OUTPUT_REPO_ID}" \
+    --vcodec "${VCODEC}" \
+    --pix-fmt "${PIX_FMT}" \
+    --g ${GOP_SIZE} \
+    --crf ${CRF} \
+    --fast-decode ${FAST_DECODE} \
+    --num-image-workers ${NUM_IMAGE_WORKERS} \
+    --logs-dir "${LOGS_DIR}" \
+    --job-name "convert_video" \
+    --slurm 1 \
+    --workers ${NUM_WORKERS} \
+    --partition "${PARTITION}" \
+    --cpus-per-task ${CPUS_PER_TASK} \
+    --mem-per-cpu "${MEM_PER_CPU}" \
+    --time-limit "${TIME_LIMIT}"
+
+echo ""
+echo "✓ Parallel conversion jobs submitted!"
+echo "  Monitor with: squeue -u \$USER"
+echo "  Check logs in: ${LOGS_DIR}/convert_video"
+echo ""
+echo "Wait for all jobs to complete before running Step 2."
+echo "You can check completion with: squeue -u \$USER | grep convert_video"
+echo ""
+echo "After all jobs complete, run Step 2 to aggregate shards:"
+echo "  bash convert_to_video_parallel.sh aggregate"
+
+###############################################################################
+# STEP 2: Aggregate Shards (run this after Step 1 completes)
+###############################################################################
+
+if [ "$1" == "aggregate" ]; then
+    echo ""
+    echo "=============================================="
+    echo "STEP 2: Aggregating video shards"
+    echo "  Shards: ${NUM_WORKERS}"
+    echo "  Input: ${OUTPUT_DIR}/shard_XXXX"
+    echo "  Output: ${OUTPUT_DIR}_final"
+    echo "=============================================="
+
+    python slurm_aggregate_video_shards.py \
+        --shards-dir "${OUTPUT_DIR}" \
+        --output-dir "${OUTPUT_DIR}_final" \
+        --output-repo-id "${OUTPUT_REPO_ID}" \
+        --num-shards ${NUM_WORKERS} \
+        --logs-dir "${LOGS_DIR}" \
+        --job-name "aggregate_video" \
+        --slurm 1 \
+        --partition "${PARTITION}" \
+        --cpus-per-task 16 \
+        --mem-per-cpu "8G" \
+        --time-limit "08:00:00"
+
+    echo ""
+    echo "✓ Aggregation job submitted!"
+    echo "  Monitor with: squeue -u \$USER | grep aggregate_video"
+    echo "  Check logs in: ${LOGS_DIR}/aggregate_video"
+    echo ""
+    echo "After completion, your final dataset will be in:"
+    echo "  ${OUTPUT_DIR}_final"
+fi
+
+###############################################################################
+# Helpful information
+###############################################################################
+
+if [ "$1" != "aggregate" ]; then
+    echo ""
+    echo "=============================================="
+    echo "WORKFLOW SUMMARY"
+    echo "=============================================="
+    echo ""
+    echo "1. Step 1 is now running - it will:"
+    echo "   - Split episodes across ${NUM_WORKERS} workers"
+    echo "   - Each worker converts its episodes to video"
+    echo "   - Creates shard datasets in ${OUTPUT_DIR}/shard_XXXX"
+    echo ""
+    echo "2. After Step 1 completes, run Step 2:"
+    echo "   bash convert_to_video_parallel.sh aggregate"
+    echo ""
+    echo "3. Step 2 will merge all shards into a single dataset"
+    echo ""
+    echo "=============================================="
+fi
+
+

examples/port_datasets/slurm_aggregate_video_shards.py

@@ -0,0 +1,266 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Aggregate video dataset shards into a single dataset.
+
+After parallel conversion using slurm_convert_to_video.py, this script merges
+all the shard datasets into one final dataset.
+
+Example usage:
+    python slurm_aggregate_video_shards.py \
+        --shards-dir /fsx/jade_choghari/libero_video \
+        --output-dir /fsx/jade_choghari/libero_video_final \
+        --output-repo-id lerobot_video \
+        --num-workers 100 \
+        --partition cpu_partition \
+        --cpus-per-task 16
+"""
+
+import argparse
+import logging
+from pathlib import Path
+
+from datatrove.executor import LocalPipelineExecutor
+from datatrove.executor.slurm import SlurmPipelineExecutor
+from datatrove.pipeline.base import PipelineStep
+
+
+class AggregateVideoShards(PipelineStep):
+    """Pipeline step that aggregates video dataset shards."""
+
+    def __init__(
+        self,
+        shards_dir: str | Path,
+        output_dir: str | Path,
+        output_repo_id: str,
+        num_shards: int,
+    ):
+        super().__init__()
+        self.shards_dir = Path(shards_dir)
+        self.output_dir = Path(output_dir)
+        self.output_repo_id = output_repo_id
+        self.num_shards = num_shards
+
+    def run(self, data=None, rank: int = 0, world_size: int = 1):
+        """Aggregate all shards into a single dataset."""
+        from lerobot.datasets.dataset_tools import merge_datasets
+        from lerobot.datasets.lerobot_dataset import LeRobotDataset
+        from lerobot.utils.utils import init_logging
+
+        init_logging()
+
+        # Only worker 0 performs aggregation
+        if rank != 0:
+            logging.info(f"Worker {rank} skipping - only worker 0 performs aggregation")
+            return
+
+        logging.info(f"Starting aggregation of {self.num_shards} shards")
+
+        # Collect all shard datasets
+        shard_datasets = []
+        for shard_idx in range(self.num_shards):
+            shard_dir = self.shards_dir / f"shard_{shard_idx:04d}"
+            if not shard_dir.exists():
+                logging.warning(f"Shard directory not found: {shard_dir}")
+                continue
+
+            # Find the repo_id for this shard
+            shard_repo_id = f"{self.output_repo_id}_shard_{shard_idx:04d}"
+            try:
+                shard_dataset = LeRobotDataset(shard_repo_id, root=shard_dir)
+                shard_datasets.append(shard_dataset)
+                logging.info(
+                    f"Loaded shard {shard_idx}: {shard_dataset.meta.total_episodes} episodes, "
+                    f"{shard_dataset.meta.total_frames} frames"
+                )
+            except Exception as e:
+                logging.error(f"Failed to load shard {shard_idx}: {e}")
+                continue
+
+        if len(shard_datasets) == 0:
+            raise ValueError(f"No valid shards found in {self.shards_dir}")
+
+        logging.info(f"Successfully loaded {len(shard_datasets)} shards, starting merge")
+
+        # Merge all shards
+        self.output_dir.mkdir(parents=True, exist_ok=True)
+        merged_dataset = merge_datasets(
+            shard_datasets,
+            output_repo_id=self.output_repo_id,
+            output_dir=self.output_dir,
+        )
+
+        logging.info("✓ Aggregation complete!")
+        logging.info(f"Merged dataset saved to: {self.output_dir}")
+        logging.info(f"Total episodes: {merged_dataset.meta.total_episodes}")
+        logging.info(f"Total frames: {merged_dataset.meta.total_frames}")
+
+
+def make_aggregate_executor(
+    shards_dir,
+    output_dir,
+    output_repo_id,
+    num_shards,
+    job_name,
+    logs_dir,
+    partition,
+    cpus_per_task,
+    mem_per_cpu,
+    time_limit,
+    slurm=True,
+):
+    """Create executor for shard aggregation."""
+    kwargs = {
+        "pipeline": [
+            AggregateVideoShards(
+                shards_dir=shards_dir,
+                output_dir=output_dir,
+                output_repo_id=output_repo_id,
+                num_shards=num_shards,
+            ),
+        ],
+        "logging_dir": str(logs_dir / job_name),
+    }
+
+    if slurm:
+        # Only need 1 worker for aggregation
+        kwargs.update(
+            {
+                "job_name": job_name,
+                "tasks": 1,
+                "workers": 1,
+                "time": time_limit,
+                "partition": partition,
+                "cpus_per_task": cpus_per_task,
+                "sbatch_args": {"mem-per-cpu": mem_per_cpu},
+            }
+        )
+        executor = SlurmPipelineExecutor(**kwargs)
+    else:
+        kwargs.update(
+            {
+                "tasks": 1,
+                "workers": 1,
+            }
+        )
+        executor = LocalPipelineExecutor(**kwargs)
+
+    return executor
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Aggregate video dataset shards into a single dataset",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+    )
+
+    parser.add_argument(
+        "--shards-dir",
+        type=Path,
+        required=True,
+        help="Directory containing shard_XXXX subdirectories",
+    )
+    parser.add_argument(
+        "--output-dir",
+        type=Path,
+        required=True,
+        help="Output directory for the aggregated dataset",
+    )
+    parser.add_argument(
+        "--output-repo-id",
+        type=str,
+        required=True,
+        help="Repository ID for the aggregated dataset",
+    )
+    parser.add_argument(
+        "--num-shards",
+        type=int,
+        required=True,
+        help="Number of shards to aggregate (should match --workers from conversion)",
+    )
+    parser.add_argument(
+        "--logs-dir",
+        type=Path,
+        required=True,
+        help="Path to logs directory for datatrove",
+    )
+    parser.add_argument(
+        "--job-name",
+        type=str,
+        default="aggregate_video_shards",
+        help="Job name for SLURM",
+    )
+    parser.add_argument(
+        "--slurm",
+        type=int,
+        default=1,
+        help="Launch over SLURM (1) or locally (0)",
+    )
+    parser.add_argument(
+        "--partition",
+        type=str,
+        required=True,
+        help="SLURM partition (use CPU partition)",
+    )
+    parser.add_argument(
+        "--cpus-per-task",
+        type=int,
+        default=16,
+        help="Number of CPUs per task (aggregation can use more CPUs)",
+    )
+    parser.add_argument(
+        "--mem-per-cpu",
+        type=str,
+        default="8G",
+        help="Memory per CPU",
+    )
+    parser.add_argument(
+        "--time-limit",
+        type=str,
+        default="08:00:00",
+        help="Time limit for SLURM job",
+    )
+
+    args = parser.parse_args()
+
+    # Convert slurm flag to boolean
+    slurm = args.slurm == 1
+
+    # Create and run executor
+    executor = make_aggregate_executor(
+        shards_dir=args.shards_dir,
+        output_dir=args.output_dir,
+        output_repo_id=args.output_repo_id,
+        num_shards=args.num_shards,
+        job_name=args.job_name,
+        logs_dir=args.logs_dir,
+        partition=args.partition,
+        cpus_per_task=args.cpus_per_task,
+        mem_per_cpu=args.mem_per_cpu,
+        time_limit=args.time_limit,
+        slurm=slurm,
+    )
+
+    logging.info("Starting shard aggregation")
+    executor.run()
+    logging.info("Aggregation job submitted/completed")
+
+
+if __name__ == "__main__":
+    main()
+
+

examples/port_datasets/slurm_convert_to_video.py

@@ -0,0 +1,539 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Parallelize video conversion using SLURM and Datatrove.
+
+This script converts an image-based LeRobot dataset to video format by distributing 
+episodes across multiple workers for parallel processing.
+
+Example usage:
+    python slurm_convert_to_video.py \
+        --repo-id lerobot \
+        --root /fsx/jade_choghari/libero/ \
+        --output-dir /fsx/jade_choghari/libero_video \
+        --output-repo-id lerobot_video \
+        --workers 100 \
+        --partition cpu_partition \
+        --cpus-per-task 8 \
+        --logs-dir ./logs
+"""
+
+import argparse
+import logging
+from pathlib import Path
+
+from datatrove.executor import LocalPipelineExecutor
+from datatrove.executor.slurm import SlurmPipelineExecutor
+from datatrove.pipeline.base import PipelineStep
+
+
+class ConvertEpisodesToVideo(PipelineStep):
+    """Pipeline step that converts episodes to videos in parallel."""
+
+    def __init__(
+        self,
+        repo_id: str,
+        root: str | None,
+        output_dir: str,
+        output_repo_id: str | None,
+        vcodec: str = "libsvtav1",
+        pix_fmt: str = "yuv420p",
+        g: int = 2,
+        crf: int = 30,
+        fast_decode: int = 0,
+        num_image_workers: int = 4,
+    ):
+        super().__init__()
+        self.repo_id = repo_id
+        self.root = root
+        self.output_dir = Path(output_dir)
+        self.output_repo_id = output_repo_id or f"{repo_id}_video"
+        self.vcodec = vcodec
+        self.pix_fmt = pix_fmt
+        self.g = g
+        self.crf = crf
+        self.fast_decode = fast_decode
+        self.num_image_workers = num_image_workers
+
+    def run(self, data=None, rank: int = 0, world_size: int = 1):
+        """Process a shard of episodes."""
+        from datasets.utils.tqdm import disable_progress_bars
+
+        from lerobot.datasets.lerobot_dataset import LeRobotDataset
+        from lerobot.scripts.lerobot_edit_dataset import (
+            encode_episode_videos,
+        )
+        from lerobot.utils.utils import init_logging
+        import logging
+        init_logging()
+        disable_progress_bars()
+
+        logging.info(f"Worker {rank}/{world_size} starting video conversion")
+
+        # Load source dataset
+        dataset = LeRobotDataset(self.repo_id, root=self.root)
+        total_episodes = dataset.meta.total_episodes
+
+        # Determine which episodes this worker processes
+        episodes_per_worker = total_episodes // world_size
+        remainder = total_episodes % world_size
+
+        if rank < remainder:
+            # First 'remainder' workers get one extra episode
+            start_ep = rank * (episodes_per_worker + 1)
+            end_ep = start_ep + episodes_per_worker + 1
+        else:
+            start_ep = remainder * (episodes_per_worker + 1) + (rank - remainder) * episodes_per_worker
+            end_ep = start_ep + episodes_per_worker
+
+        episode_indices = list(range(start_ep, end_ep))
+
+        logging.info(
+            f"Worker {rank} processing episodes {start_ep} to {end_ep-1} ({len(episode_indices)} episodes)"
+        )
+
+        if len(episode_indices) == 0:
+            logging.info(f"Worker {rank} has no episodes to process")
+            return
+
+        # Create shard-specific output directory
+        import shutil
+        shard_output_dir = self.output_dir / f"shard_{rank:04d}"
+        
+        # Remove existing directory to avoid conflicts with LeRobotDatasetMetadata.create
+        if shard_output_dir.exists():
+            logging.warning(f"Shard directory {shard_output_dir} already exists, removing it")
+            shutil.rmtree(shard_output_dir)
+
+        # Import conversion function
+        from lerobot.scripts.lerobot_edit_dataset import convert_dataset_to_videos
+
+        logging.info(
+            f"Worker {rank} converting {len(episode_indices)} episodes with codec {self.vcodec}, CRF {self.crf}"
+        )
+
+        # Convert this shard's episodes with remapped indices
+        # We need to remap episode indices to start from 0 for proper file structure
+        self._convert_shard_to_videos(
+            dataset=dataset,
+            shard_output_dir=shard_output_dir,
+            shard_repo_id=f"{self.output_repo_id}_shard_{rank:04d}",
+            episode_indices=episode_indices,
+        )
+
+        logging.info(f"Worker {rank} completed successfully")
+
+    def _convert_shard_to_videos(
+        self,
+        dataset,
+        shard_output_dir,
+        shard_repo_id,
+        episode_indices,
+    ):
+        """Convert a shard's episodes to videos with proper index remapping."""
+        import shutil
+        import pandas as pd
+        from tqdm import tqdm
+
+        from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
+        from lerobot.datasets.utils import write_info, write_stats, write_tasks
+        from lerobot.datasets.video_utils import encode_video_frames, get_video_info
+        from lerobot.scripts.lerobot_edit_dataset import (
+            save_episode_images_for_video,
+            _copy_data_without_images,
+        )
+        from lerobot.utils.constants import OBS_IMAGE
+
+        # Check that it's an image dataset
+        if len(dataset.meta.video_keys) > 0:
+            raise ValueError(
+                f"This operation is for image datasets only. Video dataset provided: {dataset.repo_id}"
+            )
+
+        # Get all image keys
+        hf_dataset = dataset.hf_dataset.with_format(None)
+        img_keys = [key for key in hf_dataset.features if key.startswith(OBS_IMAGE)]
+
+        if len(img_keys) == 0:
+            raise ValueError(f"No image keys found in dataset {dataset.repo_id}")
+
+        logging.info(f"Converting {len(episode_indices)} episodes with {len(img_keys)} cameras")
+
+        # Create new features dict, converting image features to video features
+        new_features = {}
+        for key, value in dataset.meta.features.items():
+            if key not in img_keys:
+                new_features[key] = value
+            else:
+                # Convert image key to video format
+                new_features[key] = value.copy()
+                new_features[key]["dtype"] = "video"
+
+        # Create new metadata for video dataset
+        new_meta = LeRobotDatasetMetadata.create(
+            repo_id=shard_repo_id,
+            fps=dataset.meta.fps,
+            features=new_features,
+            robot_type=dataset.meta.robot_type,
+            root=shard_output_dir,
+            use_videos=True,
+            chunks_size=dataset.meta.chunks_size,
+            data_files_size_in_mb=dataset.meta.data_files_size_in_mb,
+            video_files_size_in_mb=dataset.meta.video_files_size_in_mb,
+        )
+
+        # Create temporary directory for image extraction
+        temp_dir = shard_output_dir / "temp_images"
+        temp_dir.mkdir(parents=True, exist_ok=True)
+
+        # Process each episode with REMAPPED indices (0, 1, 2, ...)
+        all_episode_metadata = []
+        fps = int(dataset.fps)
+
+        try:
+            for new_ep_idx, orig_ep_idx in enumerate(tqdm(episode_indices, desc="Converting episodes")):
+                # Get episode metadata from source using ORIGINAL index
+                src_episode = dataset.meta.episodes[orig_ep_idx]
+                episode_length = src_episode["length"]
+                episode_duration = episode_length / dataset.fps
+
+                video_metadata = {}
+
+                # Encode videos for each camera
+                for img_key in img_keys:
+                    # Save images temporarily using ORIGINAL episode index
+                    imgs_dir = temp_dir / f"episode_{orig_ep_idx:06d}" / img_key
+                    save_episode_images_for_video(
+                        dataset, imgs_dir, img_key, orig_ep_idx, self.num_image_workers
+                    )
+
+                    # Determine chunk and file indices using NEW (remapped) episode index
+                    chunk_idx = new_ep_idx // new_meta.chunks_size
+                    file_idx = new_ep_idx % new_meta.chunks_size
+
+                    # Create video path in the new dataset structure
+                    video_path = new_meta.root / new_meta.video_path.format(
+                        video_key=img_key, chunk_index=chunk_idx, file_index=file_idx
+                    )
+                    video_path.parent.mkdir(parents=True, exist_ok=True)
+
+                    # Encode video
+                    encode_video_frames(
+                        imgs_dir=imgs_dir,
+                        video_path=video_path,
+                        fps=fps,
+                        vcodec=self.vcodec,
+                        pix_fmt=self.pix_fmt,
+                        g=self.g,
+                        crf=self.crf,
+                        fast_decode=self.fast_decode,
+                        overwrite=True,
+                    )
+
+                    # Clean up temporary images
+                    shutil.rmtree(imgs_dir)
+
+                    # Store video metadata
+                    video_metadata[img_key] = {
+                        f"videos/{img_key}/chunk_index": chunk_idx,
+                        f"videos/{img_key}/file_index": file_idx,
+                        f"videos/{img_key}/from_timestamp": 0.0,
+                        f"videos/{img_key}/to_timestamp": episode_duration,
+                    }
+
+                # Build episode metadata using NEW index
+                episode_meta = {
+                    "episode_index": new_ep_idx,
+                    "length": episode_length,
+                    "dataset_from_index": new_ep_idx * episode_length,
+                    "dataset_to_index": (new_ep_idx + 1) * episode_length,
+                }
+
+                # Add video metadata
+                for img_key in img_keys:
+                    episode_meta.update(video_metadata[img_key])
+
+                # Add data chunk/file info
+                if "data/chunk_index" in src_episode:
+                    episode_meta["data/chunk_index"] = src_episode["data/chunk_index"]
+                    episode_meta["data/file_index"] = src_episode["data/file_index"]
+
+                all_episode_metadata.append(episode_meta)
+
+            # Copy and transform data files (removing image columns)
+            _copy_data_without_images(dataset, new_meta, episode_indices, img_keys)
+
+            # Save episode metadata
+            episodes_df = pd.DataFrame(all_episode_metadata)
+            episodes_path = new_meta.root / "meta" / "episodes" / "chunk-000" / "file-000.parquet"
+            episodes_path.parent.mkdir(parents=True, exist_ok=True)
+            episodes_df.to_parquet(episodes_path, index=False)
+
+            # Update metadata info
+            new_meta.info["total_episodes"] = len(episode_indices)
+            new_meta.info["total_frames"] = sum(ep["length"] for ep in all_episode_metadata)
+            new_meta.info["total_tasks"] = dataset.meta.total_tasks
+            new_meta.info["splits"] = {"train": f"0:{len(episode_indices)}"}
+
+            # Update video info for all image keys using the actual first video file
+            for img_key in img_keys:
+                if not new_meta.features[img_key].get("info", None):
+                    # Use the first actually created video file
+                    chunk_idx = all_episode_metadata[0][f"videos/{img_key}/chunk_index"]
+                    file_idx = all_episode_metadata[0][f"videos/{img_key}/file_index"]
+                    video_path = new_meta.root / new_meta.video_path.format(
+                        video_key=img_key, chunk_index=chunk_idx, file_index=file_idx
+                    )
+                    new_meta.info["features"][img_key]["info"] = get_video_info(video_path)
+
+            write_info(new_meta.info, new_meta.root)
+
+            # Copy stats and tasks
+            if dataset.meta.stats is not None:
+                # Remove image stats
+                new_stats = {k: v for k, v in dataset.meta.stats.items() if k not in img_keys}
+                write_stats(new_stats, new_meta.root)
+
+            if dataset.meta.tasks is not None:
+                write_tasks(dataset.meta.tasks, new_meta.root)
+
+        finally:
+            # Clean up temporary directory
+            if temp_dir.exists():
+                shutil.rmtree(temp_dir)
+
+
+def make_convert_executor(
+    repo_id,
+    root,
+    output_dir,
+    output_repo_id,
+    vcodec,
+    pix_fmt,
+    g,
+    crf,
+    fast_decode,
+    num_image_workers,
+    job_name,
+    logs_dir,
+    workers,
+    partition,
+    cpus_per_task,
+    mem_per_cpu,
+    time_limit,
+    slurm=True,
+):
+    """Create executor for parallel video conversion."""
+    kwargs = {
+        "pipeline": [
+            ConvertEpisodesToVideo(
+                repo_id=repo_id,
+                root=root,
+                output_dir=output_dir,
+                output_repo_id=output_repo_id,
+                vcodec=vcodec,
+                pix_fmt=pix_fmt,
+                g=g,
+                crf=crf,
+                fast_decode=fast_decode,
+                num_image_workers=num_image_workers,
+            ),
+        ],
+        "logging_dir": str(logs_dir / job_name),
+    }
+
+    if slurm:
+        kwargs.update(
+            {
+                "job_name": job_name,
+                "tasks": workers,  # Number of parallel tasks = number of workers
+                "workers": workers,
+                "time": time_limit,
+                "partition": partition,
+                "cpus_per_task": cpus_per_task,
+                "sbatch_args": {"mem-per-cpu": mem_per_cpu},
+            }
+        )
+        executor = SlurmPipelineExecutor(**kwargs)
+    else:
+        kwargs.update(
+            {
+                "tasks": workers,
+                "workers": 1,  # Local mode: sequential
+            }
+        )
+        executor = LocalPipelineExecutor(**kwargs)
+
+    return executor
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Parallelize video conversion across SLURM workers",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+    )
+
+    # Input/Output paths
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        required=True,
+        help="Repository ID of the source image dataset",
+    )
+    parser.add_argument(
+        "--root",
+        type=str,
+        default=None,
+        help="Root directory containing the source dataset (default: HF cache)",
+    )
+    parser.add_argument(
+        "--output-dir",
+        type=str,
+        required=True,
+        help="Output directory for the video dataset",
+    )
+    parser.add_argument(
+        "--output-repo-id",
+        type=str,
+        default=None,
+        help="Repository ID for output dataset (default: <repo_id>_video)",
+    )
+
+    # Video encoding parameters
+    parser.add_argument(
+        "--vcodec",
+        type=str,
+        default="libsvtav1",
+        help="Video codec",
+    )
+    parser.add_argument(
+        "--pix-fmt",
+        type=str,
+        default="yuv420p",
+        help="Pixel format",
+    )
+    parser.add_argument(
+        "--g",
+        type=int,
+        default=2,
+        help="GOP size (group of pictures)",
+    )
+    parser.add_argument(
+        "--crf",
+        type=int,
+        default=30,
+        help="Constant rate factor (quality)",
+    )
+    parser.add_argument(
+        "--fast-decode",
+        type=int,
+        default=0,
+        help="Fast decode tuning",
+    )
+    parser.add_argument(
+        "--num-image-workers",
+        type=int,
+        default=4,
+        help="Number of threads per worker for saving images",
+    )
+
+    # SLURM parameters
+    parser.add_argument(
+        "--logs-dir",
+        type=Path,
+        required=True,
+        help="Path to logs directory for datatrove",
+    )
+    parser.add_argument(
+        "--job-name",
+        type=str,
+        default="convert_to_video",
+        help="Job name for SLURM",
+    )
+    parser.add_argument(
+        "--slurm",
+        type=int,
+        default=1,
+        help="Launch over SLURM (1) or locally (0)",
+    )
+    parser.add_argument(
+        "--workers",
+        type=int,
+        default=100,
+        help="Number of parallel workers (each processes different episodes)",
+    )
+    parser.add_argument(
+        "--partition",
+        type=str,
+        required=True,
+        help="SLURM partition (use CPU partition)",
+    )
+    parser.add_argument(
+        "--cpus-per-task",
+        type=int,
+        default=8,
+        help="Number of CPUs per SLURM task",
+    )
+    parser.add_argument(
+        "--mem-per-cpu",
+        type=str,
+        default="4G",
+        help="Memory per CPU",
+    )
+    parser.add_argument(
+        "--time-limit",
+        type=str,
+        default="08:00:00",
+        help="Time limit for SLURM job",
+    )
+
+    args = parser.parse_args()
+
+    # Convert slurm flag to boolean
+    slurm = args.slurm == 1
+
+    # Create and run executor
+    executor = make_convert_executor(
+        repo_id=args.repo_id,
+        root=args.root,
+        output_dir=args.output_dir,
+        output_repo_id=args.output_repo_id,
+        vcodec=args.vcodec,
+        pix_fmt=args.pix_fmt,
+        g=args.g,
+        crf=args.crf,
+        fast_decode=args.fast_decode,
+        num_image_workers=args.num_image_workers,
+        job_name=args.job_name,
+        logs_dir=args.logs_dir,
+        workers=args.workers,
+        partition=args.partition,
+        cpus_per_task=args.cpus_per_task,
+        mem_per_cpu=args.mem_per_cpu,
+        time_limit=args.time_limit,
+        slurm=slurm,
+    )
+
+    logging.info(f"Starting video conversion with {args.workers} workers")
+    executor.run()
+    logging.info("All workers submitted/completed")
+
+
+if __name__ == "__main__":
+    main()
+
+

slurm-21724787.out

@@ -0,0 +1,7 @@
+==============================================
+STEP 1: Starting parallel video conversion
+  Workers: 2
+  Input: lerobot (root: /fsx/jade_choghari/vlabench-primitive/)
+  Output: /fsx/jade_choghari/vlabench-primitive-encoded
+==============================================
+python: can't open file '/admin/home/jade_choghari/lerobot/slurm_convert_to_video.py': [Errno 2] No such file or directory

src/lerobot/optim/optimizers.py

@@ -81,14 +81,10 @@ class AdamWConfig(OptimizerConfig):
     eps: float = 1e-8
     weight_decay: float = 1e-2
     grad_clip_norm: float = 10.0
-    fused: bool = False
 
     def build(self, params: dict) -> torch.optim.Optimizer:
         kwargs = asdict(self)
         kwargs.pop("grad_clip_norm")
-        # Fused optimizer only works on CUDA
-        if kwargs.get("fused") and not torch.cuda.is_available():
-            kwargs["fused"] = False
         return torch.optim.AdamW(params, **kwargs)
 
 

src/lerobot/policies/act/configuration_act.py

@@ -136,7 +136,6 @@ class ACTConfig(PreTrainedConfig):
     optimizer_lr: float = 1e-5
     optimizer_weight_decay: float = 1e-4
     optimizer_lr_backbone: float = 1e-5
-    optimizer_fused: bool = False  # Use CUDA fused AdamW kernel
 
     def __post_init__(self):
         super().__post_init__()
@@ -165,7 +164,6 @@ class ACTConfig(PreTrainedConfig):
         return AdamWConfig(
             lr=self.optimizer_lr,
             weight_decay=self.optimizer_weight_decay,
-            fused=self.optimizer_fused,
         )
 
     def get_scheduler_preset(self) -> None:

src/lerobot/policies/groot/configuration_groot.py

@@ -94,7 +94,6 @@ class GrootConfig(PreTrainedConfig):
     optimizer_betas: tuple[float, float] = (0.95, 0.999)
     optimizer_eps: float = 1e-8
     optimizer_weight_decay: float = 1e-5
-    optimizer_fused: bool = False  # Use CUDA fused AdamW kernel
     warmup_ratio: float = 0.05
     use_bf16: bool = True
 
@@ -175,7 +174,6 @@ class GrootConfig(PreTrainedConfig):
             betas=self.optimizer_betas,
             eps=self.optimizer_eps,
             weight_decay=self.optimizer_weight_decay,
-            fused=self.optimizer_fused,
         )
 
     def get_scheduler_preset(self) -> CosineDecayWithWarmupSchedulerConfig:

src/lerobot/policies/pi0/configuration_pi0.py

@@ -23,8 +23,6 @@ from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.utils.constants import OBS_IMAGES
 
-DEFAULT_IMAGE_SIZE = 224
-
 
 @PreTrainedConfig.register_subclass("pi0")
 @dataclass
@@ -53,10 +51,7 @@ class PI0Config(PreTrainedConfig):
     # Real-Time Chunking (RTC) configuration
     rtc_config: RTCConfig | None = None
 
-    image_resolution: tuple[int, int] = (
-        DEFAULT_IMAGE_SIZE,
-        DEFAULT_IMAGE_SIZE,
-    )  # see openpi `preprocessing_pytorch.py`
+    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.
     empty_cameras: int = 0
@@ -74,7 +69,6 @@ class PI0Config(PreTrainedConfig):
     gradient_checkpointing: bool = False  # Enable gradient checkpointing for memory optimization
     compile_model: bool = False  # Whether to use torch.compile for model optimization
     compile_mode: str = "max-autotune"  # Torch compile mode
-    optimizer_fused: bool = False  # Use CUDA fused AdamW kernel
     device: str | None = None  # Device to use for the model (None = auto-detect)
 
     # Optimizer settings: see openpi `AdamW``
@@ -142,7 +136,6 @@ class PI0Config(PreTrainedConfig):
             eps=self.optimizer_eps,
             weight_decay=self.optimizer_weight_decay,
             grad_clip_norm=self.optimizer_grad_clip_norm,
-            fused=self.optimizer_fused,
         )
 
     def get_scheduler_preset(self):

src/lerobot/policies/pi0/modeling_pi0.py

@@ -41,7 +41,7 @@ else:
     PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi0.configuration_pi0 import DEFAULT_IMAGE_SIZE, PI0Config
+from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
@@ -337,7 +337,6 @@ class PaliGemmaWithExpertModel(
         action_expert_config,
         use_adarms=None,
         precision: Literal["bfloat16", "float32"] = "bfloat16",
-        image_size: int = DEFAULT_IMAGE_SIZE,
     ):
         if use_adarms is None:
             use_adarms = [False, False]
@@ -357,7 +356,6 @@ class PaliGemmaWithExpertModel(
         vlm_config_hf.text_config.vocab_size = 257152
         vlm_config_hf.text_config.use_adarms = use_adarms[0]
         vlm_config_hf.text_config.adarms_cond_dim = vlm_config.width if use_adarms[0] else None
-        vlm_config_hf.vision_config.image_size = image_size
         vlm_config_hf.vision_config.intermediate_size = 4304
         vlm_config_hf.vision_config.projection_dim = 2048
         vlm_config_hf.vision_config.projector_hidden_act = "gelu_fast"
@@ -521,17 +519,11 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
 
-        if config.image_resolution[0] != config.image_resolution[1]:
-            raise ValueError(
-                f"PaliGemma expects square image resolution, invalid resolution: {config.image_resolution}"
-            )
-
         self.paligemma_with_expert = PaliGemmaWithExpertModel(
             paligemma_config,
             action_expert_config,
             use_adarms=[False, False],
             precision=config.dtype,
-            image_size=config.image_resolution[0],
         )
 
         self.action_in_proj = nn.Linear(config.max_action_dim, action_expert_config.width)
@@ -820,13 +812,16 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
+        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        for step in range(num_steps):
-            time = 1.0 + step * dt
-            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
+        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        while time >= -dt / 2:
+            expanded_time = time.expand(bsize)
 
-            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
+            # Define a closure function to properly capture expanded_time
+            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
+            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
                 return self.denoise_step(
                     state=state,
                     prefix_pad_masks=prefix_pad_masks,
@@ -851,11 +846,15 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            x_t = x_t + dt * v_t
+            # Euler step
+            x_t += dt * v_t
 
+            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
+            time += dt
+
         return x_t
 
     def denoise_step(

src/lerobot/policies/pi05/configuration_pi05.py

@@ -22,8 +22,6 @@ from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 
-DEFAULT_IMAGE_SIZE = 224
-
 
 @PreTrainedConfig.register_subclass("pi05")
 @dataclass
@@ -52,10 +50,7 @@ class PI05Config(PreTrainedConfig):
     # Real-Time Chunking (RTC) configuration
     rtc_config: RTCConfig | None = None
 
-    image_resolution: tuple[int, int] = (
-        DEFAULT_IMAGE_SIZE,
-        DEFAULT_IMAGE_SIZE,
-    )  # see openpi `preprocessing_pytorch.py`
+    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.
     empty_cameras: int = 0
@@ -74,7 +69,6 @@ class PI05Config(PreTrainedConfig):
     gradient_checkpointing: bool = False  # Enable gradient checkpointing for memory optimization
     compile_model: bool = False  # Whether to use torch.compile for model optimization
     compile_mode: str = "max-autotune"  # Torch compile mode
-    optimizer_fused: bool = False  # Use CUDA fused AdamW kernel
     device: str | None = None  # Device to use for the model (None = auto-detect)
 
     # Optimizer settings: see openpi `AdamW`
@@ -142,7 +136,6 @@ class PI05Config(PreTrainedConfig):
             eps=self.optimizer_eps,
             weight_decay=self.optimizer_weight_decay,
             grad_clip_norm=self.optimizer_grad_clip_norm,
-            fused=self.optimizer_fused,
         )
 
     def get_scheduler_preset(self):

src/lerobot/policies/pi05/modeling_pi05.py

@@ -41,7 +41,7 @@ else:
     PaliGemmaForConditionalGeneration = None
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi05.configuration_pi05 import DEFAULT_IMAGE_SIZE, PI05Config
+from lerobot.policies.pi05.configuration_pi05 import PI05Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
@@ -336,7 +336,6 @@ class PaliGemmaWithExpertModel(
         action_expert_config,
         use_adarms=None,
         precision: Literal["bfloat16", "float32"] = "bfloat16",
-        image_size: int = DEFAULT_IMAGE_SIZE,
     ):
         if use_adarms is None:
             use_adarms = [False, False]
@@ -356,7 +355,6 @@ class PaliGemmaWithExpertModel(
         vlm_config_hf.text_config.vocab_size = 257152
         vlm_config_hf.text_config.use_adarms = use_adarms[0]
         vlm_config_hf.text_config.adarms_cond_dim = vlm_config.width if use_adarms[0] else None
-        vlm_config_hf.vision_config.image_size = image_size
         vlm_config_hf.vision_config.intermediate_size = 4304
         vlm_config_hf.vision_config.projection_dim = 2048
         vlm_config_hf.vision_config.projector_hidden_act = "gelu_fast"
@@ -520,17 +518,11 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
 
-        if config.image_resolution[0] != config.image_resolution[1]:
-            raise ValueError(
-                f"PaliGemma expects square image resolution, invalid resolution: {config.image_resolution}"
-            )
-
         self.paligemma_with_expert = PaliGemmaWithExpertModel(
             paligemma_config,
             action_expert_config,
             use_adarms=[False, True],
             precision=config.dtype,
-            image_size=config.image_resolution[0],
         )
 
         self.action_in_proj = nn.Linear(config.max_action_dim, action_expert_config.width)
@@ -795,13 +787,16 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         )
 
         dt = -1.0 / num_steps
+        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        for step in range(num_steps):
-            time = 1.0 + step * dt
-            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
+        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        while time >= -dt / 2:
+            expanded_time = time.expand(bsize)
 
-            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
+            # Define a closure function to properly capture expanded_time
+            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
+            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
                 return self.denoise_step(
                     prefix_pad_masks=prefix_pad_masks,
                     past_key_values=past_key_values,
@@ -825,11 +820,15 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            x_t = x_t + dt * v_t
+            # Euler step
+            x_t += dt * v_t
 
+            # Record x_t and v_t after Euler step
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
+            time += dt
+
         return x_t
 
     def denoise_step(

src/lerobot/policies/smolvla/configuration_smolvla.py

@@ -79,7 +79,6 @@ class SmolVLAConfig(PreTrainedConfig):
     optimizer_eps: float = 1e-8
     optimizer_weight_decay: float = 1e-10
     optimizer_grad_clip_norm: float = 10
-    optimizer_fused: bool = False
 
     scheduler_warmup_steps: int = 1_000
     scheduler_decay_steps: int = 30_000
@@ -137,7 +136,6 @@ class SmolVLAConfig(PreTrainedConfig):
             eps=self.optimizer_eps,
             weight_decay=self.optimizer_weight_decay,
             grad_clip_norm=self.optimizer_grad_clip_norm,
-            fused=self.optimizer_fused,
         )
 
     def get_scheduler_preset(self):

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -783,15 +783,18 @@ class VLAFlowMatching(nn.Module):
             use_cache=self.config.use_cache,
             fill_kv_cache=True,
         )
-        num_steps = self.config.num_steps
-        dt = -1.0 / num_steps
+        dt = -1.0 / self.config.num_steps
+        dt = torch.tensor(dt, dtype=torch.float32, device=device)
 
         x_t = noise
-        for step in range(num_steps):
-            time = 1.0 + step * dt
-            time_tensor = torch.tensor(time, dtype=torch.float32, device=device).expand(bsize)
+        time = torch.tensor(1.0, dtype=torch.float32, device=device)
 
-            def denoise_step_partial_call(input_x_t, current_timestep=time_tensor):
+        while time >= -dt / 2:
+            expanded_time = time.expand(bsize)
+
+            # Define a closure function to properly capture expanded_time
+            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
+            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
                 return self.denoise_step(
                     x_t=input_x_t,
                     prefix_pad_masks=prefix_pad_masks,
@@ -815,11 +818,15 @@ class VLAFlowMatching(nn.Module):
             else:
                 v_t = denoise_step_partial_call(x_t)
 
-            x_t = x_t + dt * v_t
+            # Euler step
+            x_t += dt * v_t
 
+            # Record x_t and v_t after Euler step (other params are recorded in rtc_processor.denoise_step)
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
+            time += dt
+
         return x_t
 
     def denoise_step(