Martino Russi 4787cfc7ee feat(vla): extract shared action-time expert embedding block ...

Add fuse_action_time_embedding to common/vla_utils: the action-expert input
block (project actions + sine-cosine timestep embed + concat + mlp_in/SiLU/
mlp_out) that pi0, pi05, eo1 and smolvla each copy. The nn.Linear layers are
passed in rather than owned by the helper, so adoption does not rename any
checkpoint keys.

Reproduces the pi0/pi05 (time_emb_dtype=timestep.dtype) and smolvla (default
action-emb dtype) conventions byte-for-byte, with an optional apply hook for
gradient checkpointing. eo1's autocast + per-layer dtype casts are left for a
follow-up adoption. No policy is migrated in this (additive-only) PR.

Adds equivalence tests against verbatim pi0 and smolvla inline blocks.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-07-19 12:36:55 +02:00

..

annotations

feat(annotate): improve VLM subtask annotation (legible contact sheets, seeded relabeling, self-hosted vLLM recipe) (#3896)

2026-07-15 11:38:49 +02:00

artifacts

feat(encoding parameters): adding support for user provided video encoding parameters (#3455)

2026-05-14 23:46:42 +02:00

async_inference

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

cameras

test(cameras): skip flaky async_read test (#3106)

2026-03-08 14:02:33 +01:00

configs

feat(train): run training remotely on HF Jobs via --job.target (#3856)

2026-06-29 17:59:33 +02:00

datasets

fix(save codec options): making sure codec options are always set via set_if (#3910)

2026-07-02 15:29:14 +02:00

envs

feat(policies): add EVO1 policy (#3908)

2026-07-03 22:17:15 +02:00

fixtures

fix(depth unit): adding input depth unit storage in the dataset metadata (#3899)

2026-07-02 11:53:13 +02:00

jobs

feat(train): run training remotely on HF Jobs via --job.target (#3856)

2026-06-29 17:59:33 +02:00

mocks

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

motors

fix(feetech): motor position readings overflow (#3373)

2026-04-13 22:39:58 +02:00

optim

feat(train): FSDP checkpoint saving (#3810)

2026-06-22 13:51:21 +02:00

policies

feat(vla): extract shared action-time expert embedding block

2026-07-19 12:36:55 +02:00

processor

fix(images/videos): fixing aggregate_pipeline_dataset_features to avoid unwanted images features deletion (#3783)

2026-06-15 17:55:52 +02:00

rewards

feat(rewards): add ROBOMETER reward model (#3627)

2026-05-29 21:45:39 +02:00

rl

RL stack refactoring (#3075)

2026-05-12 15:49:54 +02:00

robots

Feat(robot): add MIT control mode to ReBot (#3778)

2026-06-30 17:17:50 +02:00

scripts

Move annotation dependencies to module scope (#4040)

2026-07-16 18:35:32 +02:00

teleoperators

refactor(robots): homogenize bi-manual setups implementations (#3772)

2026-06-15 16:28:54 +02:00

training

Add inline offline validation with train/eval split (#3824)

2026-06-25 15:31:24 +02:00

transport

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

utils

Aggregate policy sub-losses through MetricsTracker (#4024)

2026-07-16 12:12:37 +02:00

__init__.py

chore(doc): add license header to all files (#818)

2025-03-05 17:56:51 +01:00

conftest.py

perf(tests): cache draccus docstring extraction (#3903)

2026-07-01 17:05:43 +02:00

test_available.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

test_cli_peft.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_control_robot.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_robomme_env.py

feat(envs): add RoboMME benchmark (#3311)

2026-04-20 20:21:27 +02:00

test_rollout.py

feat(rollout): adding episodic strategy (#3717)

2026-06-06 00:32:38 +02:00

test_yaml_policy_path.py

Fix policy.path in YAML configs (PR #3145 followup) (#3597)

2026-05-26 14:01:19 +02:00

utils.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00