From e14bdf57d055e85ebc8a684efd2e4b9a4c7b6a37 Mon Sep 17 00:00:00 2001 From: Reece O'Mahoney <66252930+reeceomahoney@users.noreply.github.com> Date: Mon, 9 Feb 2026 13:46:12 +0000 Subject: [PATCH 1/2] Convert tensors to scalars (#2903) Co-authored-by: Steven Palma --- src/lerobot/policies/smolvla/modeling_smolvla.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lerobot/policies/smolvla/modeling_smolvla.py b/src/lerobot/policies/smolvla/modeling_smolvla.py index c611e9ba2..60b968a42 100644 --- a/src/lerobot/policies/smolvla/modeling_smolvla.py +++ b/src/lerobot/policies/smolvla/modeling_smolvla.py @@ -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 From 489cb7b6b9a39b569aaf02ff26df6725e9b36285 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Mon, 9 Feb 2026 16:58:32 +0100 Subject: [PATCH 2/2] fix(scripts): correct can import check (#2937) --- src/lerobot/scripts/lerobot_setup_can.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/scripts/lerobot_setup_can.py b/src/lerobot/scripts/lerobot_setup_can.py index 55de74724..a31727ea4 100644 --- a/src/lerobot/scripts/lerobot_setup_can.py +++ b/src/lerobot/scripts/lerobot_setup_can.py @@ -45,7 +45,7 @@ from dataclasses import dataclass, field import draccus -from lerobot.utils.import_utils import is_package_available +from lerobot.utils.import_utils import _can_available MOTOR_NAMES = { 0x01: "joint_1", @@ -336,7 +336,7 @@ def run_speed(cfg: CANSetupConfig): @draccus.wrap() def setup_can(cfg: CANSetupConfig): - if not is_package_available("can"): + if not _can_available: print("Error: python-can not installed. Install with: pip install python-can") sys.exit(1)