remove cropping of images smaller than the crop size

src/lerobot/__init__.py

@@ -157,7 +157,7 @@ available_datasets = sorted(
 )
 
 # lists all available policies from `lerobot/policies`
-available_policies = ["act", "multi_task_dit", "diffusion", "tdmpc", "vqbet"]
+available_policies = ["act", "diffusion", "tdmpc", "vqbet"]
 
 # lists all available robots from `lerobot/robots`
 available_robots = [

src/lerobot/policies/multi_task_dit/configuration_multi_task_dit.py

@@ -14,6 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import logging
 from dataclasses import dataclass, field
 
 from lerobot.configs.policies import PreTrainedConfig
@@ -144,9 +145,12 @@ class MultiTaskDiTConfig(PreTrainedConfig):
                 or self.image_crop_shape[1] > self.image_resize_shape[1]
             )
         ):
-            raise ValueError(
-                f"image_crop_shape {self.image_crop_shape} must be <= image_resize_shape {self.image_resize_shape}"
+            logging.warning(
+                "image_crop_shape %s must be <= image_resize_shape %s; disabling cropping.",
+                self.image_crop_shape,
+                self.image_resize_shape,
             )
+            self.image_crop_shape = None
 
         # Text encoder validation
         if "clip" not in self.text_encoder_name.lower():
@@ -202,16 +206,26 @@ class MultiTaskDiTConfig(PreTrainedConfig):
 
     def validate_features(self) -> None:
         """Validate that required input features are present and properly configured."""
+        # If the configured crop doesn't fit, disable cropping instead of erroring.
+        # Note: if image_resize_shape is set, cropping is applied *after* resizing.
         if self.image_crop_shape is not None:
             for key, image_ft in self.image_features.items():
-                if (
-                    self.image_crop_shape[0] > image_ft.shape[1]
-                    or self.image_crop_shape[1] > image_ft.shape[2]
-                ):
-                    raise ValueError(
-                        f"image_crop_shape {self.image_crop_shape} doesn't fit within image shape {image_ft.shape} "
-                        f"for '{key}'"
+                # image_ft.shape is (C, H, W)
+                effective_h, effective_w = (
+                    self.image_resize_shape
+                    if self.image_resize_shape is not None
+                    else (image_ft.shape[1], image_ft.shape[2])
+                )
+                if self.image_crop_shape[0] > effective_h or self.image_crop_shape[1] > effective_w:
+                    logging.warning(
+                        "image_crop_shape %s doesn't fit within effective image shape (%s, %s) for '%s'; disabling cropping.",
+                        self.image_crop_shape,
+                        effective_h,
+                        effective_w,
+                        key,
                     )
+                    self.image_crop_shape = None
+                    break
 
         if len(self.image_features) > 0:
             first_key, first_ft = next(iter(self.image_features.items()))