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Pepijn
26cb38a7d0
Three additions to the SmolVLA2 interactive runtime: 1. Startup task picker — when no --task is given, the runtime lists the dataset's task strings as a numbered menu (plus a custom-task option) instead of silently waiting for the first stdin line. 2. Mode toggle — /action and /vlm slash commands flip a persistent run mode. /vlm pauses the whole action loop (HighLevelSubtaskFwd, LowLevelForward and DispatchAction gate on state["mode"]) and clears the action queue so the robot holds position; /action resumes it. The mode is shown in the state panel. 3. Interactive VQA — in /vlm mode a typed line is a VQA question. The new inference/vqa.py module asks which camera to ground on, runs the VLM on that single camera, and when the answer is a bbox/keypoint it draws the overlay, saves a PNG to ./vqa_overlays/ and auto-opens it. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>