Merge branch 'fix/storage-ci-runners' into fix/add-xvla-ci-main

Added detailed instructions for implementing a custom optimizer and modifying parameter retrieval for X-VLA finetuning.

Signed-off-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com>

.github/workflows/fast_tests.yml

@@ -60,12 +60,17 @@ jobs:
     runs-on: ubuntu-latest
     env:
       MUJOCO_GL: egl
+      HF_HOME: /mnt/cache/.cache/huggingface
+      HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
     steps:
       - uses: actions/checkout@v4
         with:
           persist-credentials: false
           lfs: true
 
+      - name: Setup /mnt storage
+        run: sudo chown -R $USER:$USER /mnt
+
       # TODO(Steven): Evaluate the need of these dependencies
       - name: Install apt dependencies
         run: |
@@ -80,8 +85,14 @@ jobs:
           version: ${{ env.UV_VERSION }}
           python-version: ${{ env.PYTHON_VERSION }}
 
+      - name: Check disk usage
+        run: df -h
+
       - name: Install lerobot with test extras
         run: uv sync --extra "test"
 
+      - name: Check disk usage
+        run: df -h
+
       - name: Run pytest
         run: uv run pytest tests -vv --maxfail=10

.github/workflows/full_tests.yml

@@ -58,12 +58,17 @@ jobs:
       github.event_name == 'workflow_dispatch'
     env:
       MUJOCO_GL: egl
+      HF_HOME: /mnt/cache/.cache/huggingface
+      HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
     steps:
       - uses: actions/checkout@v4
         with:
           lfs: true
           persist-credentials: false
 
+      - name: Setup /mnt storage
+        run: sudo chown -R $USER:$USER /mnt
+
       - name: Install apt dependencies
         run: |
           sudo apt-get update && sudo apt-get install -y build-essential \
@@ -80,12 +85,21 @@ jobs:
       - name: Install lerobot with all extras
         run: uv sync --all-extras --no-extra groot # TODO(Steven): Make flash-attn optional
 
+      - name: Check disk usage
+        run: df -h
+
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv --maxfail=10
 
+      - name: Check disk usage
+        run: df -h
+
       - name: Run end-to-end tests
         run: uv run make test-end-to-end
 
+      - name: Check disk usage
+        run: df -h
+
   # This job builds a GPU enabled image for testing
   # It runs everytime a PR is approved or a push to main
   # TODO(Steven): For now we skip this job for community PRs

.github/workflows/unbound_deps_tests.yml

@@ -45,11 +45,15 @@ jobs:
     runs-on: ubuntu-latest
     env:
       MUJOCO_GL: egl
+      HF_HOME: /mnt/cache/.cache/huggingface
+      HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
     steps:
       - uses: actions/checkout@v4
         with:
           lfs: true
           persist-credentials: false
+      - name: Setup /mnt storage
+        run: sudo chown -R $USER:$USER /mnt
 
       - name: Install apt dependencies
         run: |

docs/source/_toctree.yml

@@ -37,6 +37,8 @@
     title: π₀.₅ (Pi05)
   - local: groot
     title: NVIDIA GR00T N1.5
+  - local: xvla
+    title: X-VLA
   title: "Policies"
 - sections:
   - local: async

docs/source/libero.mdx

@@ -62,6 +62,11 @@ lerobot-eval \
 
 - Pass a comma-separated list to `--env.task` for multi-suite evaluation.
 
+### Control Mode
+
+LIBERO now supports two control modes: relative and absolute. This matters because different VLA checkpoints are trained with different mode of action to output hence control parameterizations.
+You can switch them with: `env.control_mode = "relative"` and `env.control_mode = "absolute"`
+
 ### Policy inputs and outputs
 
 When using LIBERO through LeRobot, policies interact with the environment via **observations** and **actions**:

docs/source/xvla.mdx

@@ -0,0 +1,543 @@
+# X-VLA: The First Soft-Prompted Robot Foundation Model for Any Robot, Any Task
+
+## Overview
+
+For years, robotics has aspired to build agents that can follow natural human instructions and operate dexterously across many environments and robot bodies. Recent breakthroughs in LLMs and VLMs suggest a path forward: extend these foundation-model architectures to embodied control by grounding them in actions. This has led to the rise of Vision-Language-Action (VLA) models, with the hope that a single generalist model could combine broad semantic understanding with robust manipulation skills.
+
+But training such models is difficult. Robot data is fragmented across platforms, sensors, embodiments, and collection protocols. Heterogeneity appears everywhere: different arm configurations, different action spaces, different camera setups, different visual domains, and different task distributions. These inconsistencies create major distribution shifts that make pretraining unstable and adaptation unreliable.
+
+Inspired by meta-learning and prompt learning, we ask: **"What if a VLA model could learn the structure of each robot and dataset the same way LLMs learn tasks, through prompts?"**
+
+**X-VLA** is a soft-prompted, flow-matching VLA framework that treats each hardware setup as a "task" and encodes it using a small set of learnable embeddings. These **Soft Prompts** capture embodiment and domain-specific variations, guiding the Transformer from the earliest stages of multimodal fusion. With this mechanism, X-VLA can reconcile diverse robot morphologies, data types, and sensor setups within a single unified architecture.
+
+<img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture.png" width="400">
+
+Built from pure Transformer encoders, X-VLA scales naturally with model size and dataset diversity. Across 6 simulation benchmarks and 3 real robots, Soft Prompts consistently outperform existing methods in handling hardware and domain differences. X-VLA-0.9B, trained on 290K episodes spanning seven robotic platforms, learns an embodiment-agnostic generalist policy in Phase I, and adapts efficiently to new robots in Phase II simply by learning a new set of prompts, while keeping the backbone frozen.
+
+<img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-architecture2.png" width="400">
+
+With only 1% of parameters tuned (9M), X-VLA-0.9B achieves near-π₀ performance on LIBERO and Simpler-WidowX, despite using **300× fewer trainable parameters**. It also demonstrates strong real-world dexterity with minimal demonstrations, including folding cloths in under two minutes.
+
+<img src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/xvla-fold.png" width="400">
+
+X-VLA shows that generalist robot intelligence does not require increasingly complex architectures, only the right way to absorb heterogeneity. Soft Prompts offer a simple, scalable mechanism for unifying diverse robotic data, paving the way toward adaptable, cross-embodiment robot foundation models.
+
+---
+
+## Installation
+
+After installing LeRobot, install the X-VLA dependencies:
+
+```bash
+pip install -e .[xvla]
+```
+
+After the new release, you'll be able to do:
+
+```bash
+pip install lerobot[xvla]
+```
+
+---
+
+## Quick Start
+
+### Basic Usage
+
+To use X-VLA in your LeRobot configuration, specify the policy type as:
+
+```bash
+policy.type=xvla
+```
+
+### Evaluating Pre-trained Checkpoints
+
+Example evaluation with LIBERO:
+
+```bash
+lerobot-eval \
+  --policy.path="lerobot/xvla-libero" \
+  --env.type=libero \
+  --env.task=libero_spatial,libero_goal,libero_10 \
+  --env.control_mode=absolute \
+  --eval.batch_size=1 \
+  --eval.n_episodes=1 \
+  --env.episode_length=800 \
+  --seed=142
+```
+
+---
+
+## Available Checkpoints
+
+### 🎯 Base Model
+
+**[lerobot/xvla-base](https://huggingface.co/lerobot/xvla-base)**
+
+A 0.9B parameter instantiation of X-VLA, trained with a carefully designed data processing and learning recipe. The training pipeline consists of two phases:
+
+- **Phase I: Pretraining** - Pretrained on 290K episodes from Droid, Robomind, and Agibot, spanning seven platforms across five types of robotic arms (single-arm to bi-manual setups). By leveraging soft prompts to absorb embodiment-specific variations, the model learns an embodiment-agnostic generalist policy.
+
+- **Phase II: Domain Adaptation** - Adapted to deployable policies for target domains. A new set of soft prompts is introduced and optimized to encode the hardware configuration of the novel domain, while the pretrained backbone remains frozen.
+
+### 🎮 Simulation Checkpoints
+
+**[lerobot/xvla-libero](https://huggingface.co/lerobot/xvla-libero)**
+
+Achieves 93% success rate on LIBERO benchmarks. Fine-tuned from the base model for simulation tasks.
+
+**[lerobot/xvla-widowx](https://huggingface.co/lerobot/xvla-widowx)**
+
+Fine-tuned on BridgeData for pick-and-place experiments on compact WidowX platforms. Demonstrates robust manipulation capabilities.
+
+### 🤖 Real-World Checkpoints
+
+**[lerobot/xvla-folding](https://huggingface.co/lerobot/xvla-folding)**
+
+A fine-tuned dexterous manipulation model trained on the high-quality Soft-FOLD cloth folding dataset. Achieves 100% success rate over 2 hours of continuous cloth folding.
+
+**[lerobot/xvla-agibot-world](https://huggingface.co/lerobot/xvla-agibot-world)**
+
+Optimized for AgileX robot dexterous manipulation tasks.
+
+**[lerobot/xvla-google-robot](https://huggingface.co/lerobot/xvla-google-robot)**
+
+Adapted for Google Robot platforms.
+
+---
+
+## Training X-VLA
+
+### Recommended Training Configuration
+
+When fine-tuning X-VLA for a new embodiment or task, we recommend the following freezing strategy:
+
+```bash
+lerobot-train \
+  --dataset.repo_id=YOUR_DATASET \
+  --output_dir=./outputs/xvla_training \
+  --job_name=xvla_training \
+  --policy.path="lerobot/xvla-base" \
+  --policy.repo_id="HF_USER/xvla-your-robot" \
+  --steps=3000 \
+  --policy.device=cuda \
+  --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`    | `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, 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
+
+```bash
+lerobot-train \
+  --dataset.repo_id=pepijn223/bimanual-so100-handover-cube \
+  --output_dir=./outputs/xvla_bimanual \
+  --job_name=xvla_so101_training \
+  --policy.path="lerobot/xvla-base" \
+  --policy.repo_id="YOUR_USERNAME/xvla-biso101" \
+  --steps=3000 \
+  --policy.device=cuda \
+  --policy.action_mode=so101_bimanual \
+  --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:
+
+**🔥 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.
+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.
+We encourage implementing this in your customized training pipeline for optimal results.
+
+---
+
+## Core Concepts
+
+### 1. Action Modes
+
+X-VLA uses an **Action Registry** system to handle different action spaces and embodiments. The `action_mode` parameter defines how actions are processed, what loss functions are used, and how predictions are post-processed.
+
+#### Available Action Modes
+
+| Action Mode      | Action Dim            | Description                                 | Use Case                             |
+| ---------------- | --------------------- | ------------------------------------------- | ------------------------------------ |
+| `ee6d`           | 20                    | End-effector with xyz, 6D rotation, gripper | Dual-arm setups with spatial control |
+| `joint`          | 14                    | Joint-space with gripper                    | Direct joint control robots          |
+| `agibot_ee6d`    | 20                    | AGI-bot variant with MSE loss               | AGI-bot platforms                    |
+| `franka_joint7`  | 7                     | Franka Panda 7-joint control                | Franka robots without gripper        |
+| `so101_bimanual` | 20 (model), 12 (real) | SO101 bimanual robot                        | Bimanual manipulation tasks          |
+
+#### Why Action Modes Matter
+
+When you have a pretrained checkpoint like `lerobot/xvla-base` trained with `action_dim=20`, and you want to train on a dataset with a different action dimension (e.g., 14 for bimanual arms), you can't simply trim the action dimension. The action mode orchestrates:
+
+1. **Loss Computation**: Different loss functions for different action components (MSE for joints, BCE for grippers, etc.)
+2. **Preprocessing**: Zeroing out gripper channels, padding dimensions
+3. **Postprocessing**: Applying sigmoid to gripper logits, trimming padding
+
+#### Example: BimanualSO101 Action Space
+
+The `so101_bimanual` action mode handles the mismatch between model output (20D) and real robot control (12D):
+
+```python
+# Model outputs 20 dimensions for compatibility
+dim_action = 20
+
+# Real robot only needs 12 dimensions
+# [left_arm (6), right_arm (6)] = [joints (5) + gripper (1)] × 2
+REAL_DIM = 12
+
+# Preprocessing: Pad 12D actions to 20D for training
+# Postprocessing: Trim 20D predictions to 12D for deployment
+```
+
+See the [action_hub.py](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/action_hub.py) implementation for details.
+
+### 2. Domain IDs
+
+Domain IDs are learnable identifiers for different robot configurations and camera setups. They allow X-VLA to distinguish between:
+
+- Different robots (Robot 1 vs Robot 2)
+- Different camera configurations (cam1 vs cam2)
+- Different combinations (Robot1-cam1-cam2 vs Robot1-cam1 vs Robot2-cam1)
+
+#### Setting Domain IDs
+
+**During Training**: By default, domain_id is set to 0 for general training.
+
+**During Evaluation**: Specify the domain_id that matches your checkpoint's training configuration.
+
+```python
+# Example: LIBERO checkpoint uses domain_id=3
+domain_id = 3
+```
+
+The domain_id is automatically added to observations by the `XVLAAddDomainIdProcessorStep` in the preprocessing pipeline.
+
+### 3. Processor Steps
+
+X-VLA requires specific preprocessing and postprocessing steps for proper operation.
+
+#### Required Preprocessing Steps
+
+1. **XVLAImageToFloatProcessorStep**: Converts images from [0, 255] to [0, 1] range
+2. **XVLAImageNetNormalizeProcessorStep**: Applies ImageNet normalization (required for VLM backbone)
+3. **XVLAAddDomainIdProcessorStep**: Adds domain_id to observations
+
+#### Example Custom Processor
+
+For LIBERO environments, a custom processor handles the specific observation format:
+
+```python
+from lerobot.policies.xvla.processor_xvla import LiberoProcessorStep
+
+processor = LiberoProcessorStep()
+# Handles robot_state dictionary, converts rotation matrices to 6D representation
+# Applies 180° image rotation for camera convention
+```
+
+### 4. Configuration Parameters
+
+Key configuration parameters for X-VLA:
+
+```python
+# Observation and action
+n_obs_steps: int = 1          # Number of observation timesteps
+chunk_size: int = 32           # Action sequence length
+n_action_steps: int = 32       # Number of action steps to execute
+
+# Model architecture
+hidden_size: int = 1024        # Transformer hidden dimension
+depth: int = 24                # Number of transformer layers
+num_heads: int = 16            # Number of attention heads
+num_domains: int = 30          # Maximum number of domain IDs
+len_soft_prompts: int = 32     # Length of soft prompt embeddings
+
+# Action space
+action_mode: str = "ee6d"      # Action space type
+use_proprio: bool = True       # Use proprioceptive state
+max_state_dim: int = 32        # Maximum state dimension
+
+# Vision
+num_image_views: int | None    # Number of camera views
+resize_imgs_with_padding: tuple[int, int] | None  # Target image size with padding
+
+# Training
+num_denoising_steps: int = 10  # Flow matching denoising steps
+```
+
+---
+
+## Creating Custom Action Modes
+
+If your robot has a unique action space, you can create a custom action mode:
+
+### Step 1: Define Your Action Space
+
+```python
+from lerobot.policies.xvla.action_hub import BaseActionSpace, register_action
+import torch.nn as nn
+
+@register_action("my_custom_robot")
+class MyCustomActionSpace(BaseActionSpace):
+    """Custom action space for my robot."""
+
+    dim_action = 15  # Your robot's action dimension
+    gripper_idx = (7, 14)  # Gripper channel indices
+
+    def __init__(self):
+        super().__init__()
+        self.mse = nn.MSELoss()
+        self.bce = nn.BCEWithLogitsLoss()
+
+    def compute_loss(self, pred, target):
+        """Define your loss computation."""
+        # Example: MSE for joints, BCE for grippers
+        joints_loss = self.mse(pred[:, :, :7], target[:, :, :7])
+        gripper_loss = self.bce(pred[:, :, self.gripper_idx],
+                                target[:, :, self.gripper_idx])
+
+        return {
+            "joints_loss": joints_loss,
+            "gripper_loss": gripper_loss,
+        }
+
+    def preprocess(self, proprio, action, mode="train"):
+        """Preprocess actions before training."""
+        # Example: Zero out grippers in proprioception
+        proprio_m = proprio.clone()
+        action_m = action.clone() if action is not None else None
+        proprio_m[..., self.gripper_idx] = 0.0
+        if action_m is not None:
+            action_m[..., self.gripper_idx] = 0.0
+        return proprio_m, action_m
+
+    def postprocess(self, action):
+        """Post-process predictions for deployment."""
+        # Example: Apply sigmoid to gripper logits
+        action[..., self.gripper_idx] = torch.sigmoid(action[..., self.gripper_idx])
+        return action
+```
+
+### Step 2: Use Your Custom Action Mode
+
+```bash
+lerobot-train \
+  --policy.action_mode=my_custom_robot \
+  --dataset.repo_id=YOUR_DATASET \
+  --policy.path="lerobot/xvla-base" \
+  ...
+```
+
+---
+
+## Advanced Topics
+
+### Multi-Camera Support
+
+X-VLA supports multiple camera views through the `num_image_views` parameter:
+
+```python
+# Configure for 3 camera views
+policy.num_image_views=3
+
+# Add empty cameras if you have fewer physical cameras
+policy.empty_cameras=1  # Adds 1 zero-padded camera view
+```
+
+### Custom Preprocessing Pipeline
+
+Create a custom preprocessing pipeline for your environment:
+
+```python
+from lerobot.processor import PolicyProcessorPipeline
+from lerobot.policies.xvla.processor_xvla import (
+    XVLAImageToFloatProcessorStep,
+    XVLAImageNetNormalizeProcessorStep,
+    XVLAAddDomainIdProcessorStep,
+)
+
+# Build custom pipeline
+preprocessor = PolicyProcessorPipeline(
+    steps=[
+        YourCustomProcessorStep(),  # Your custom processing
+        XVLAImageToFloatProcessorStep(),  # Required: convert to float
+        XVLAImageNetNormalizeProcessorStep(),  # Required: ImageNet norm
+        XVLAAddDomainIdProcessorStep(domain_id=5),  # Your domain ID
+    ]
+)
+```
+
+### Handling Different Action Dimensions
+
+When your dataset has fewer action dimensions than the pretrained model:
+
+**Option 1**: Use padding (automatic in most action modes)
+
+```python
+# Model expects 20D, dataset has 12D
+# Action mode handles padding internally
+action_mode = "so101_bimanual"  # Pads 12 → 20
+```
+
+**Option 2**: Create a custom action mode that maps dimensions explicitly
+
+```python
+@register_action("my_mapped_action")
+class MappedActionSpace(BaseActionSpace):
+    dim_action = 20
+    REAL_DIM = 12
+
+    def _pad_to_model_dim(self, x):
+        # Custom padding logic
+        ...
+```
+
+---
+
+## Troubleshooting
+
+### Common Issues
+
+**Issue**: "Action dimension mismatch"
+
+- **Solution**: Check that your `action_mode` matches your robot's action space. Create a custom action mode if needed.
+
+**Issue**: "Image values outside [0, 1] range"
+
+- **Solution**: Ensure images are preprocessed with `XVLAImageToFloatProcessorStep` before normalization.
+
+**Issue**: "Domain ID not found"
+
+- **Solution**: Make sure `XVLAAddDomainIdProcessorStep` is in your preprocessing pipeline with the correct domain_id.
+
+**Issue**: "Low success rate on new embodiment"
+
+- **Solution**:
+  1. Verify your action_mode is correct
+  2. Check that soft prompts are being trained (`train_soft_prompts=True`)
+  3. Ensure proper preprocessing (ImageNet normalization, domain_id)
+  4. Consider increasing training steps
+
+**Issue**: "Out of memory during training"
+
+- **Solution**:
+  1. Reduce `chunk_size` (e.g., from 32 to 16)
+  2. Enable gradient checkpointing
+  3. Reduce batch size
+  4. Freeze more components
+
+---
+
+## Citation
+
+If you use X-VLA in your research, please cite:
+
+```bibtex
+@article{zheng2025x,
+  title   = {X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model},
+  author  = {Zheng, Jinliang and Li, Jianxiong and Wang, Zhihao and Liu, Dongxiu and Kang, Xirui
+             and Feng, Yuchun and Zheng, Yinan and Zou, Jiayin and Chen, Yilun and Zeng, Jia and others},
+  journal = {arXiv preprint arXiv:2510.10274},
+  year    = {2025}
+}
+```
+
+---
+
+## Additional Resources
+
+- [X-VLA Paper](https://arxiv.org) (coming soon)
+- [LeRobot Documentation](https://github.com/huggingface/lerobot)
+- [Action Registry Implementation](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/action_hub.py)
+- [Processor Implementation](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/processor_xvla.py)
+- [Model Configuration](/home/jade_choghari/robot/lerobot/src/lerobot/policies/xvla/configuration_xvla.py)
+
+---
+
+## Contributing
+
+We welcome contributions! If you've implemented a new action mode or processor for your robot, please consider submitting a PR to help the community.

pyproject.toml

@@ -129,6 +129,7 @@ groot = [
     "ninja>=1.11.1,<2.0.0",
     "flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
 ]
+xvla = ["lerobot[transformers-dep]"]
 hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
 # Features
@@ -157,6 +158,7 @@ all = [
     "lerobot[pi]",
     "lerobot[smolvla]",
     # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
+    "lerobot[xvla]",
     "lerobot[hilserl]",
     "lerobot[async]",
     "lerobot[dev]",

src/lerobot/envs/configs.py

@@ -245,7 +245,7 @@ class HILSerlRobotEnvConfig(EnvConfig):
 class LiberoEnv(EnvConfig):
     task: str = "libero_10"  # can also choose libero_spatial, libero_object, etc.
     fps: int = 30
-    episode_length: int = 520
+    episode_length: int | None = None
     obs_type: str = "pixels_agent_pos"
     render_mode: str = "rgb_array"
     camera_name: str = "agentview_image,robot0_eye_in_hand_image"
@@ -272,6 +272,7 @@ class LiberoEnv(EnvConfig):
             LIBERO_KEY_PIXELS_EYE_IN_HAND: f"{OBS_IMAGES}.image2",
         }
     )
+    control_mode: str = "relative"  # or "absolute"
 
     def __post_init__(self):
         if self.obs_type == "pixels":

src/lerobot/envs/factory.py

@@ -19,8 +19,10 @@ from typing import Any
 import gymnasium as gym
 from gymnasium.envs.registration import registry as gym_registry
 
+from lerobot.configs.policies import PreTrainedConfig
 from lerobot.envs.configs import AlohaEnv, EnvConfig, LiberoEnv, PushtEnv
 from lerobot.envs.utils import _call_make_env, _download_hub_file, _import_hub_module, _normalize_hub_result
+from lerobot.policies.xvla.configuration_xvla import XVLAConfig
 from lerobot.processor import ProcessorStep
 from lerobot.processor.env_processor import LiberoProcessorStep
 from lerobot.processor.pipeline import PolicyProcessorPipeline
@@ -39,6 +41,7 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
 
 def make_env_pre_post_processors(
     env_cfg: EnvConfig,
+    policy_cfg: PreTrainedConfig,
 ) -> tuple[
     PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
@@ -61,6 +64,10 @@ def make_env_pre_post_processors(
     # Preprocessor and Postprocessor steps are Identity for most environments
     preprocessor_steps: list[ProcessorStep] = []
     postprocessor_steps: list[ProcessorStep] = []
+    if isinstance(policy_cfg, XVLAConfig):
+        from lerobot.policies.xvla.processor_xvla import make_xvla_libero_pre_post_processors
+
+        return make_xvla_libero_pre_post_processors()
 
     # For LIBERO environments, add the LiberoProcessorStep to preprocessor
     if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
@@ -136,6 +143,8 @@ def make_env(
             init_states=cfg.init_states,
             gym_kwargs=cfg.gym_kwargs,
             env_cls=env_cls,
+            control_mode=cfg.control_mode,
+            episode_length=cfg.episode_length,
         )
     elif "metaworld" in cfg.type:
         from lerobot.envs.metaworld import create_metaworld_envs

src/lerobot/envs/libero.py

@@ -80,10 +80,7 @@ def get_libero_dummy_action():
     return [0, 0, 0, 0, 0, 0, -1]
 
 
-OBS_STATE_DIM = 8
 ACTION_DIM = 7
-AGENT_POS_LOW = -1000.0
-AGENT_POS_HIGH = 1000.0
 ACTION_LOW = -1.0
 ACTION_HIGH = 1.0
 TASK_SUITE_MAX_STEPS: dict[str, int] = {
@@ -103,6 +100,7 @@ class LiberoEnv(gym.Env):
         task_suite: Any,
         task_id: int,
         task_suite_name: str,
+        episode_length: int | None = None,
         camera_name: str | Sequence[str] = "agentview_image,robot0_eye_in_hand_image",
         obs_type: str = "pixels",
         render_mode: str = "rgb_array",
@@ -114,6 +112,7 @@ class LiberoEnv(gym.Env):
         episode_index: int = 0,
         camera_name_mapping: dict[str, str] | None = None,
         num_steps_wait: int = 10,
+        control_mode: str = "relative",
     ):
         super().__init__()
         self.task_id = task_id
@@ -141,14 +140,19 @@ class LiberoEnv(gym.Env):
         self.camera_name_mapping = camera_name_mapping
         self.num_steps_wait = num_steps_wait
         self.episode_index = episode_index
+        self.episode_length = episode_length
         # Load once and keep
         self._init_states = get_task_init_states(task_suite, self.task_id) if self.init_states else None
         self._init_state_id = self.episode_index  # tie each sub-env to a fixed init state
 
         self._env = self._make_envs_task(task_suite, self.task_id)
         default_steps = 500
-        self._max_episode_steps = TASK_SUITE_MAX_STEPS.get(task_suite_name, default_steps)
+        self._max_episode_steps = (
-
+            TASK_SUITE_MAX_STEPS.get(task_suite_name, default_steps)
+            if self.episode_length is None
+            else self.episode_length
+        )
+        self.control_mode = control_mode
         images = {}
         for cam in self.camera_name:
             images[self.camera_name_mapping[cam]] = spaces.Box(
@@ -296,6 +300,15 @@ class LiberoEnv(gym.Env):
         # Increasing this value can improve determinism and reproducibility across resets.
         for _ in range(self.num_steps_wait):
             raw_obs, _, _, _ = self._env.step(get_libero_dummy_action())
+
+        if self.control_mode == "absolute":
+            for robot in self._env.robots:
+                robot.controller.use_delta = False
+        elif self.control_mode == "relative":
+            for robot in self._env.robots:
+                robot.controller.use_delta = True
+        else:
+            raise ValueError(f"Invalid control mode: {self.control_mode}")
         observation = self._format_raw_obs(raw_obs)
         info = {"is_success": False}
         return observation, info
@@ -341,8 +354,10 @@ def _make_env_fns(
     task_id: int,
     n_envs: int,
     camera_names: list[str],
+    episode_length: int | None,
     init_states: bool,
     gym_kwargs: Mapping[str, Any],
+    control_mode: str,
 ) -> list[Callable[[], LiberoEnv]]:
     """Build n_envs factory callables for a single (suite, task_id)."""
 
@@ -354,7 +369,9 @@ def _make_env_fns(
             task_suite_name=suite_name,
             camera_name=camera_names,
             init_states=init_states,
+            episode_length=episode_length,
             episode_index=episode_index,
+            control_mode=control_mode,
             **local_kwargs,
         )
 
@@ -374,6 +391,8 @@ def create_libero_envs(
     camera_name: str | Sequence[str] = "agentview_image,robot0_eye_in_hand_image",
     init_states: bool = True,
     env_cls: Callable[[Sequence[Callable[[], Any]]], Any] | None = None,
+    control_mode: str = "relative",
+    episode_length: int | None = None,
 ) -> dict[str, dict[int, Any]]:
     """
     Create vectorized LIBERO environments with a consistent return shape.
@@ -415,12 +434,14 @@ def create_libero_envs(
         for tid in selected:
             fns = _make_env_fns(
                 suite=suite,
+                episode_length=episode_length,
                 suite_name=suite_name,
                 task_id=tid,
                 n_envs=n_envs,
                 camera_names=camera_names,
                 init_states=init_states,
                 gym_kwargs=gym_kwargs,
+                control_mode=control_mode,
             )
             out[suite_name][tid] = env_cls(fns)
             print(f"Built vec env | suite={suite_name} | task_id={tid} | n_envs={n_envs}")

src/lerobot/policies/__init__.py

@@ -21,6 +21,7 @@ from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig
 from .smolvla.processor_smolvla import SmolVLANewLineProcessor
 from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
 from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
+from .xvla.configuration_xvla import XVLAConfig as XVLAConfig
 
 __all__ = [
     "ACTConfig",
@@ -31,4 +32,5 @@ __all__ = [
     "TDMPCConfig",
     "VQBeTConfig",
     "GrootConfig",
+    "XVLAConfig",
 ]

src/lerobot/policies/factory.py

@@ -40,6 +40,7 @@ from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.utils import validate_visual_features_consistency
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
+from lerobot.policies.xvla.configuration_xvla import XVLAConfig
 from lerobot.processor import PolicyAction, PolicyProcessorPipeline
 from lerobot.processor.converters import (
     batch_to_transition,
@@ -107,6 +108,10 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
         from lerobot.policies.groot.modeling_groot import GrootPolicy
 
         return GrootPolicy
+    elif name == "xvla":
+        from lerobot.policies.xvla.modeling_xvla import XVLAPolicy
+
+        return XVLAPolicy
     else:
         raise NotImplementedError(f"Policy with name {name} is not implemented.")
 
@@ -150,6 +155,8 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
         return RewardClassifierConfig(**kwargs)
     elif policy_type == "groot":
         return GrootConfig(**kwargs)
+    elif policy_type == "xvla":
+        return XVLAConfig(**kwargs)
     else:
         raise ValueError(f"Policy type '{policy_type}' is not available.")
 
@@ -329,6 +336,15 @@ def make_pre_post_processors(
             config=policy_cfg,
             dataset_stats=kwargs.get("dataset_stats"),
         )
+    elif isinstance(policy_cfg, XVLAConfig):
+        from lerobot.policies.xvla.processor_xvla import (
+            make_xvla_pre_post_processors,
+        )
+
+        processors = make_xvla_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+        )
 
     else:
         raise NotImplementedError(f"Processor for policy type '{policy_cfg.type}' is not implemented.")

src/lerobot/policies/xvla/__init__.py

@@ -0,0 +1,6 @@
+# register the processor steps
+from lerobot.policies.xvla.processor_xvla import (
+    XVLAAddDomainIdProcessorStep,
+    XVLAImageNetNormalizeProcessorStep,
+    XVLAImageToFloatProcessorStep,
+)

src/lerobot/policies/xvla/action_hub.py

@@ -0,0 +1,454 @@
+# ------------------------------------------------------------------------------
+# Copyright 2025 2toINF and HuggingFace Inc. (https://github.com/2toINF)
+#
+# 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.
+# ------------------------------------------------------------------------------
+
+from __future__ import annotations
+
+from collections.abc import Iterable
+
+import torch
+import torch.nn as nn
+
+# =============================================================================
+# Registry
+# =============================================================================
+ACTION_REGISTRY: dict[str, type[BaseActionSpace]] = {}
+
+
+def register_action(name: str):
+    """Decorator for registering a new action space."""
+
+    def _wrap(cls):
+        key = name.lower()
+        if key in ACTION_REGISTRY:
+            raise KeyError(f"ActionSpace '{key}' already registered -> {ACTION_REGISTRY[key]}")
+        ACTION_REGISTRY[key] = cls
+        cls.name = key
+        return cls
+
+    return _wrap
+
+
+def build_action_space(name: str, **kwargs) -> BaseActionSpace:
+    """Instantiate a registered action space by name."""
+    key = name.lower()
+    if key not in ACTION_REGISTRY:
+        raise KeyError(f"Unknown action space '{name}'. Available: {list(ACTION_REGISTRY.keys())}")
+    return ACTION_REGISTRY[key](**kwargs)
+
+
+# =============================================================================
+# Base class
+# =============================================================================
+class BaseActionSpace(nn.Module):
+    """
+    Abstract base class for all action-space definitions.
+
+    Each subclass defines:
+      - `dim_action`: dimension of the action vector.
+      - `gripper_idx`: indices of gripper channels.
+      - `compute_loss(pred, target)`: supervised loss for this space.
+      - `preprocess(proprio, action, mode)`: pre-step modifications.
+      - `postprocess(action)`: post-step corrections (e.g. apply sigmoid).
+    """
+
+    name: str = "base"
+    dim_action: int = 0
+    gripper_idx: tuple[int, ...] = ()
+
+    def __init__(self):
+        super().__init__()
+
+    # ---------------------------------------------------------------------
+    # Core supervised loss
+    # ---------------------------------------------------------------------
+    def compute_loss(self, pred: torch.Tensor, target: torch.Tensor) -> dict[str, torch.Tensor]:
+        raise NotImplementedError
+
+    def forward(self, pred: torch.Tensor, target: torch.Tensor) -> dict[str, torch.Tensor]:
+        """Alias for compute_loss."""
+        return self.compute_loss(pred, target)
+
+    # ---------------------------------------------------------------------
+    # Space-level hooks
+    # ---------------------------------------------------------------------
+    def preprocess(
+        self,
+        proprio: torch.Tensor,
+        action: torch.Tensor,
+        mode: str = "train",
+    ) -> tuple[torch.Tensor, torch.Tensor]:
+        """Default: return unchanged."""
+        return proprio, action
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """Default: return unchanged."""
+        return action
+
+
+# =============================================================================
+# Utilities
+# =============================================================================
+def _ensure_indices_valid(dim_action: int, idx: Iterable[int], name: str) -> None:
+    bad = [i for i in idx if i < 0 or i >= dim_action]
+    if bad:
+        raise IndexError(f"{name} contains out-of-range indices {bad} for action dim dim_action={dim_action}")
+
+
+# =============================================================================
+# Implementations
+# =============================================================================
+@register_action("ee6d")
+class EE6DActionSpace(BaseActionSpace):
+    """End-effector layout with xyz, 6D rotation, and gripper channels."""
+
+    dim_action = 20
+    gripper_idx = (9, 19)
+    GRIPPER_SCALE = 1.0
+    XYZ_SCALE = 500.0
+    ROT_SCALE = 10.0
+
+    POS_IDX_1 = (0, 1, 2)
+    POS_IDX_2 = (10, 11, 12)
+    ROT_IDX_1 = (3, 4, 5, 6, 7, 8)
+    ROT_IDX_2 = (13, 14, 15, 16, 17, 18)
+
+    def __init__(self):
+        super().__init__()
+        self.mse = nn.MSELoss()
+        self.bce = nn.BCEWithLogitsLoss()
+
+    def compute_loss(self, pred, target):
+        assert pred.shape == target.shape, "pred/target shapes must match"
+        batch_size, seq_len, action_dim = pred.shape
+        _ensure_indices_valid(action_dim, self.gripper_idx, "gripper_idx")
+
+        # Gripper BCE
+        g_losses = [self.bce(pred[:, :, gi], target[:, :, gi]) for gi in self.gripper_idx]
+        gripper_loss = sum(g_losses) / len(self.gripper_idx) * self.GRIPPER_SCALE
+
+        # XYZ position
+        pos_loss = (
+            self.mse(pred[:, :, self.POS_IDX_1], target[:, :, self.POS_IDX_1])
+            + self.mse(pred[:, :, self.POS_IDX_2], target[:, :, self.POS_IDX_2])
+        ) * self.XYZ_SCALE
+
+        # Rotation 6D
+        rot_loss = (
+            self.mse(pred[:, :, self.ROT_IDX_1], target[:, :, self.ROT_IDX_1])
+            + self.mse(pred[:, :, self.ROT_IDX_2], target[:, :, self.ROT_IDX_2])
+        ) * self.ROT_SCALE
+
+        return {
+            "position_loss": pos_loss,
+            "rotate6D_loss": rot_loss,
+            "gripper_loss": gripper_loss,
+        }
+
+    def preprocess(self, proprio, action, mode="train"):
+        """Zero-out gripper channels in proprio/action."""
+        proprio_m = proprio.clone()
+        action_m = action.clone()
+        proprio_m[..., self.gripper_idx] = 0.0
+        action_m[..., self.gripper_idx] = 0.0
+        return proprio_m, action_m
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """Apply sigmoid to gripper logits."""
+        if action.size(-1) > max(self.gripper_idx):
+            action[..., self.gripper_idx] = torch.sigmoid(action[..., self.gripper_idx])
+        return action
+
+
+@register_action("joint")
+class JointActionSpace(BaseActionSpace):
+    """Joint-space layout with joints + gripper only."""
+
+    dim_action = 14
+    gripper_idx = (6, 13)
+    GRIPPER_SCALE = 0.1
+    JOINTS_SCALE = 1.0
+
+    def __init__(self):
+        super().__init__()
+        self.mse = nn.MSELoss()
+        self.bce = nn.BCEWithLogitsLoss()
+
+    def compute_loss(self, pred, target):
+        assert pred.shape == target.shape
+        batch_size, seq_len, action_dim = pred.shape
+        _ensure_indices_valid(action_dim, self.gripper_idx, "gripper_idx")
+
+        g_losses = [self.bce(pred[:, :, gi], target[:, :, gi]) for gi in self.gripper_idx]
+        gripper_loss = sum(g_losses) / len(self.gripper_idx) * self.GRIPPER_SCALE
+
+        joints_idx = tuple(i for i in range(action_dim) if i not in set(self.gripper_idx))
+        joints_loss = self.mse(pred[:, :, joints_idx], target[:, :, joints_idx]) * self.JOINTS_SCALE
+
+        return {
+            "joints_loss": joints_loss,
+            "gripper_loss": gripper_loss,
+        }
+
+    def preprocess(self, proprio, action, mode="train"):
+        """Zero-out gripper channels in proprio/action."""
+        proprio_m = proprio.clone()
+        action_m = action.clone()
+        proprio_m[..., self.gripper_idx] = 0.0
+        action_m[..., self.gripper_idx] = 0.0
+        return proprio_m, action_m
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """Apply sigmoid to gripper logits."""
+        if action.size(-1) > max(self.gripper_idx):
+            action[..., self.gripper_idx] = torch.sigmoid(action[..., self.gripper_idx])
+        return action
+
+
+@register_action("agibot_ee6d")
+class AGIBOTEE6DActionSpace(BaseActionSpace):
+    """AGI-bot variant of EE6DActionSpace using MSE for all components."""
+
+    dim_action = 20
+    gripper_idx = (9, 19)
+    GRIPPER_SCALE = 10.0
+    XYZ_SCALE = 500.0
+    ROT_SCALE = 10.0
+    POS_IDX_1 = (0, 1, 2)
+    POS_IDX_2 = (10, 11, 12)
+    ROT_IDX_1 = (3, 4, 5, 6, 7, 8)
+    ROT_IDX_2 = (13, 14, 15, 16, 17, 18)
+
+    def __init__(self):
+        super().__init__()
+        self.mse = nn.MSELoss()
+
+    def compute_loss(self, pred, target):
+        assert pred.shape == target.shape
+        batch_size, seq_len, action_dim = pred.shape
+        _ensure_indices_valid(action_dim, self.gripper_idx, "gripper_idx")
+
+        gripper_loss = (
+            self.mse(pred[:, :, self.gripper_idx], target[:, :, self.gripper_idx]) * self.GRIPPER_SCALE
+        )
+        pos_loss = (
+            self.mse(pred[:, :, self.POS_IDX_1], target[:, :, self.POS_IDX_1])
+            + self.mse(pred[:, :, self.POS_IDX_2], target[:, :, self.POS_IDX_2])
+        ) * self.XYZ_SCALE
+        rot_loss = (
+            self.mse(pred[:, :, self.ROT_IDX_1], target[:, :, self.ROT_IDX_1])
+            + self.mse(pred[:, :, self.ROT_IDX_2], target[:, :, self.ROT_IDX_2])
+        ) * self.ROT_SCALE
+
+        return {
+            "position_loss": pos_loss,
+            "rotate6D_loss": rot_loss,
+            "gripper_loss": gripper_loss,
+        }
+
+    def preprocess(self, proprio, action, mode="train"):
+        """No preprocessing applied in AGIBOT variant."""
+        return proprio, action
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """AGIBOT does not postprocess."""
+        return action
+
+
+@register_action("franka_joint7")
+class FrankaJoint7ActionSpace(BaseActionSpace):
+    """Franka Panda joint-space: 7 joints, no gripper."""
+
+    dim_action = 7
+    JOINTS_SCALE = 1.0
+
+    def __init__(self):
+        super().__init__()
+        self.mse = nn.MSELoss()
+
+    def compute_loss(self, pred, target):
+        assert pred.shape == target.shape, "pred/target shapes must match"
+        joints_loss = self.mse(pred, target) * self.JOINTS_SCALE
+        return {"joints_loss": joints_loss}
+
+    def preprocess(self, proprio, action, mode="train"):
+        """No preprocessing needed for 7 joint actions."""
+        return proprio, action
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """Return directly (no sigmoid since no gripper)."""
+        return action
+
+
+@register_action("so101_bimanual")
+class BimanualSO101ActionSpace(BaseActionSpace):
+    """
+    Bimanual SO101 robot: 2 arms with 5 joints each + gripper.
+
+    Layout (real robot):
+    [left_arm (5 joints + gripper), right_arm (5 joints + gripper)]
+    - Left arm:  shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
+    - Right arm: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
+
+    Real action dim: 12
+    Model-facing dim: 20 (extra 8 dummy dims at the end)
+    """
+
+    # Model output / training dimension (to match pretrained policy)
+    dim_action = 20
+
+    # Real robot action dimension
+    REAL_DIM = 12
+
+    # Indices of real vs dummy channels
+    REAL_IDXS = tuple(range(REAL_DIM))  # 0..11
+    DUMMY_IDXS = tuple(range(REAL_DIM, dim_action))  # 12..19
+
+    # Grippers live in the real part
+    gripper_idx = (5, 11)  # left_gripper at idx 5, right_gripper at idx 11
+    GRIPPER_SCALE = 1.0
+    JOINTS_SCALE = 1.0
+
+    # Indices for left and right arm joints (excluding grippers)
+    LEFT_ARM_JOINTS = (0, 1, 2, 3, 4)
+    RIGHT_ARM_JOINTS = (6, 7, 8, 9, 10)
+
+    def __init__(self):
+        super().__init__()
+        self.mse = nn.MSELoss()
+        self.bce = nn.BCEWithLogitsLoss()
+
+    # ---------- helpers ----------
+
+    def _pad_to_model_dim(self, x: torch.Tensor) -> torch.Tensor:
+        """If last dim is REAL_DIM (12), pad zeros to reach dim_action (20)."""
+        if x is None:
+            return None
+        if x.size(-1) == self.dim_action:
+            return x
+        if x.size(-1) != self.REAL_DIM:
+            raise ValueError(
+                f"Expected last dim to be {self.REAL_DIM} or {self.dim_action}, got {x.size(-1)}"
+            )
+        pad_shape = list(x.shape[:-1]) + [self.dim_action - self.REAL_DIM]
+        pad = x.new_zeros(pad_shape)
+        return torch.cat([x, pad], dim=-1)
+
+    def _trim_to_real_dim(self, x: torch.Tensor) -> torch.Tensor:
+        """Keep only the first REAL_DIM (12) dims for the real robot."""
+        return x[..., : self.REAL_DIM]
+
+    # ---------- loss ----------
+
+    def compute_loss(self, pred, target):
+        """
+        pred:  [B, T, 20] from the model
+        target: [B, T, 12] or [B, T, 20]
+        We pad target → 20 and compute loss only on the real dims.
+        """
+        # Ensure both are [B, T, 20]
+        pred = self._pad_to_model_dim(pred)
+        target = self._pad_to_model_dim(target)
+        assert pred.shape == target.shape
+
+        # ---- MSE for all real dims (0–11) ----
+        real_dims = 12
+
+        joints_loss = (
+            self.mse(
+                pred[:, :, :real_dims],
+                target[:, :, :real_dims],
+            )
+            * self.JOINTS_SCALE
+        )
+
+        left_arm_loss = self.mse(pred[:, :, :6], target[:, :, :6])
+        right_arm_loss = self.mse(pred[:, :, 6:12], target[:, :, 6:12])
+
+        gripper_loss = (
+            self.mse(
+                pred[:, :, [5, 11]],
+                target[:, :, [5, 11]],
+            )
+            * self.GRIPPER_SCALE
+        )
+
+        return {
+            "joints_loss": joints_loss,
+            "gripper_loss": gripper_loss,
+            "left_arm_loss": left_arm_loss,
+            "right_arm_loss": right_arm_loss,
+        }
+
+    # ---------- preprocess / postprocess ----------
+
+    def preprocess(self, proprio, action, mode="train"):
+        """
+        - If proprio/action are 12-dim, pad them to 20 for the model.
+        - Zero-out gripper channels in proprio/action to focus learning on joints.
+        """
+        proprio_m = self._pad_to_model_dim(proprio.clone())
+        action_m = self._pad_to_model_dim(action.clone()) if action is not None else None
+
+        proprio_m[..., self.gripper_idx] = 0.0
+        if action_m is not None:
+            action_m[..., self.gripper_idx] = 0.0
+
+        return proprio_m, action_m
+
+    def postprocess(self, action: torch.Tensor) -> torch.Tensor:
+        """
+        - Model outputs [*, 20]
+        - Apply sigmoid to gripper logits
+        - Return only the first 12 dims for the real robot:
+          ["left_shoulder_pan.pos",
+           "left_shoulder_lift.pos",
+           "left_elbow_flex.pos",
+           "left_wrist_flex.pos",
+           "left_wrist_roll.pos",
+           "left_gripper.pos",
+           "right_shoulder_pan.pos",
+           "right_shoulder_lift.pos",
+           "right_elbow_flex.pos",
+           "right_wrist_flex.pos",
+           "right_wrist_roll.pos",
+           "right_gripper.pos"]
+        """
+        # Ensure we at least have the real dims + grippers
+        if action.size(-1) < self.REAL_DIM:
+            raise ValueError(f"Expected at least {self.REAL_DIM} dims in action, got {action.size(-1)}")
+
+        # Apply sigmoid on gripper channels in model space (indices 5 and 11)
+        if action.size(-1) > max(self.gripper_idx):
+            action[..., self.gripper_idx] = torch.sigmoid(action[..., self.gripper_idx])
+
+        # Return only the real 12-dim control vector for the env
+        return self._trim_to_real_dim(action)
+
+
+# =============================================================================
+# Exports
+# =============================================================================
+__all__ = [
+    "BaseActionSpace",
+    "build_action_space",
+    "register_action",
+    "EE6DActionSpace",
+    "JointActionSpace",
+    "AGIBOTEE6DActionSpace",
+    "FrankaJoint7ActionSpace",
+    "BimanualSO101ActionSpace",
+    "ACTION_REGISTRY",
+]

src/lerobot/policies/xvla/configuration_florence2.py

@@ -0,0 +1,353 @@
+# Copyright 2024 Microsoft and 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.
+import warnings
+
+from transformers.configuration_utils import PretrainedConfig
+from transformers.utils import logging
+
+""" Florence-2 configuration"""
+
+logger = logging.get_logger(__name__)
+
+
+class Florence2VisionConfig(PretrainedConfig):
+    r"""
+    This is the configuration class to store the configuration of a [`Florence2VisionModel`]. It is used to instantiate a Florence2VisionModel
+    according to the specified arguments, defining the model architecture. Instantiating a configuration with the
+    defaults will yield a similar configuration to that of the Florence2VisionModel architecture.
+
+    Configuration objects inherit from [`PretrainedConfig`] and can be used to control the model outputs. Read the
+    documentation from [`PretrainedConfig`] for more information.
+
+    Args:
+        drop_path_rate (`float`, *optional*, defaults to 0.1):
+            The dropout rate of the drop path layer.
+        patch_size (`List[int]`, *optional*, defaults to [7, 3, 3, 3]):
+            The patch size of the image.
+        patch_stride (`List[int]`, *optional*, defaults to [4, 2, 2, 2]):
+            The patch stride of the image.
+        patch_padding (`List[int]`, *optional*, defaults to [3, 1, 1, 1]):
+            The patch padding of the image.
+        patch_prenorm (`List[bool]`, *optional*, defaults to [false, true, true, true]):
+            Whether to apply layer normalization before the patch embedding layer.
+        enable_checkpoint (`bool`, *optional*, defaults to False):
+            Whether to enable checkpointing.
+        dim_embed (`List[int]`, *optional*, defaults to [256, 512, 1024, 2048]):
+            The dimension of the embedding layer.
+        num_heads (`List[int]`, *optional*, defaults to [8, 16, 32, 64]):
+            The number of attention heads.
+        num_groups (`List[int]`, *optional*, defaults to [8, 16, 32, 64]):
+            The number of groups.
+        depths (`List[int]`, *optional*, defaults to [1, 1, 9, 1]):
+            The depth of the model.
+        window_size (`int`, *optional*, defaults to 12):
+            The window size of the model.
+        projection_dim (`int`, *optional*, defaults to 1024):
+            The dimension of the projection layer.
+        visual_temporal_embedding (`dict`, *optional*):
+            The configuration of the visual temporal embedding.
+        image_pos_embed (`dict`, *optional*):
+            The configuration of the image position embedding.
+        image_feature_source (`List[str]`, *optional*, defaults to ["spatial_avg_pool", "temporal_avg_pool"]):
+            The source of the image feature.
+    Example:
+
+    ```python
+    >>> from transformers import Florence2VisionConfig, Florence2VisionModel
+
+    >>> # Initializing a Florence2 Vision style configuration
+    >>> configuration = Florence2VisionConfig()
+
+    >>> # Initializing a model (with random weights)
+    >>> model = Florence2VisionModel(configuration)
+
+    >>> # Accessing the model configuration
+    >>> configuration = model.config
+    ```"""
+
+    model_type = "davit"
+    keys_to_ignore_at_inference = ["past_key_values"]
+
+    def __init__(
+        self,
+        drop_path_rate=0.1,
+        patch_size=None,
+        patch_stride=None,
+        patch_padding=None,
+        patch_prenorm=None,
+        enable_checkpoint=False,
+        dim_embed=None,
+        num_heads=None,
+        num_groups=None,
+        depths=None,
+        window_size=12,
+        projection_dim=1024,
+        visual_temporal_embedding=None,
+        image_pos_embed=None,
+        image_feature_source=None,
+        **kwargs,
+    ):
+        self.drop_path_rate = drop_path_rate
+        self.patch_size = patch_size if patch_size is not None else [7, 3, 3, 3]
+        self.patch_stride = patch_stride if patch_stride is not None else [4, 2, 2, 2]
+        self.patch_padding = patch_padding if patch_padding is not None else [3, 1, 1, 1]
+        self.patch_prenorm = patch_prenorm if patch_prenorm is not None else [False, True, True, True]
+        self.enable_checkpoint = enable_checkpoint
+        self.dim_embed = dim_embed if dim_embed is not None else [256, 512, 1024, 2048]
+        self.num_heads = num_heads if num_heads is not None else [8, 16, 32, 64]
+        self.num_groups = num_groups if num_groups is not None else [8, 16, 32, 64]
+        self.depths = depths if depths is not None else [1, 1, 9, 1]
+        self.window_size = window_size
+        self.projection_dim = projection_dim
+
+        if visual_temporal_embedding is None:
+            visual_temporal_embedding = {
+                "type": "COSINE",
+                "max_temporal_embeddings": 100,
+            }
+        self.visual_temporal_embedding = visual_temporal_embedding
+
+        if image_pos_embed is None:
+            image_pos_embed = {
+                "type": "learned_abs_2d",
+                "max_pos_embeddings": 1000,
+            }
+        self.image_pos_embed = image_pos_embed
+
+        self.image_feature_source = (
+            image_feature_source
+            if image_feature_source is not None
+            else ["spatial_avg_pool", "temporal_avg_pool"]
+        )
+
+        super().__init__(**kwargs)
+
+
+class Florence2LanguageConfig(PretrainedConfig):
+    r"""
+    This is the configuration class to store the configuration of a [`Florence2LanguagePreTrainedModel`]. It is used to instantiate a BART
+    model according to the specified arguments, defining the model architecture. Instantiating a configuration with the
+    defaults will yield a similar configuration to that of the BART
+    [facebook/bart-large](https://huggingface.co/facebook/bart-large) architecture.
+
+    Configuration objects inherit from [`PretrainedConfig`] and can be used to control the model outputs. Read the
+    documentation from [`PretrainedConfig`] for more information.
+
+
+    Args:
+        vocab_size (`int`, *optional*, defaults to 51289):
+            Vocabulary size of the Florence2Language model. Defines the number of different tokens that can be represented by the
+            `inputs_ids` passed when calling [`Florence2LanguageModel`].
+        d_model (`int`, *optional*, defaults to 1024):
+            Dimensionality of the layers and the pooler layer.
+        encoder_layers (`int`, *optional*, defaults to 12):
+            Number of encoder layers.
+        decoder_layers (`int`, *optional*, defaults to 12):
+            Number of decoder layers.
+        encoder_attention_heads (`int`, *optional*, defaults to 16):
+            Number of attention heads for each attention layer in the Transformer encoder.
+        decoder_attention_heads (`int`, *optional*, defaults to 16):
+            Number of attention heads for each attention layer in the Transformer decoder.
+        decoder_ffn_dim (`int`, *optional*, defaults to 4096):
+            Dimensionality of the "intermediate" (often named feed-forward) layer in decoder.
+        encoder_ffn_dim (`int`, *optional*, defaults to 4096):
+            Dimensionality of the "intermediate" (often named feed-forward) layer in decoder.
+        activation_function (`str` or `function`, *optional*, defaults to `"gelu"`):
+            The non-linear activation function (function or string) in the encoder and pooler. If string, `"gelu"`,
+            `"relu"`, `"silu"` and `"gelu_new"` are supported.
+        dropout (`float`, *optional*, defaults to 0.1):
+            The dropout probability for all fully connected layers in the embeddings, encoder, and pooler.
+        attention_dropout (`float`, *optional*, defaults to 0.0):
+            The dropout ratio for the attention probabilities.
+        activation_dropout (`float`, *optional*, defaults to 0.0):
+            The dropout ratio for activations inside the fully connected layer.
+        classifier_dropout (`float`, *optional*, defaults to 0.0):
+            The dropout ratio for classifier.
+        max_position_embeddings (`int`, *optional*, defaults to 1024):
+            The maximum sequence length that this model might ever be used with. Typically set this to something large
+            just in case (e.g., 512 or 1024 or 2048).
+        init_std (`float`, *optional*, defaults to 0.02):
+            The standard deviation of the truncated_normal_initializer for initializing all weight matrices.
+        encoder_layerdrop (`float`, *optional*, defaults to 0.0):
+            The LayerDrop probability for the encoder. See the [LayerDrop paper](see https://arxiv.org/abs/1909.11556)
+            for more details.
+        decoder_layerdrop (`float`, *optional*, defaults to 0.0):
+            The LayerDrop probability for the decoder. See the [LayerDrop paper](see https://arxiv.org/abs/1909.11556)
+            for more details.
+        scale_embedding (`bool`, *optional*, defaults to `False`):
+            Scale embeddings by diving by sqrt(d_model).
+        use_cache (`bool`, *optional*, defaults to `True`):
+            Whether or not the model should return the last key/values attentions (not used by all models).
+        num_labels (`int`, *optional*, defaults to 3):
+            The number of labels to use in [`Florence2LanguageForSequenceClassification`].
+        forced_eos_token_id (`int`, *optional*, defaults to 2):
+            The id of the token to force as the last generated token when `max_length` is reached. Usually set to
+            `eos_token_id`.
+
+    Example:
+
+    ```python
+    >>> from transformers import Florence2LanguageConfig, Florence2LanguageModel
+
+    >>> # Initializing a Florence2 Language style configuration
+    >>> configuration = Florence2LanguageConfig()
+
+    >>> # Initializing a model (with random weights)
+    >>> model = Florence2LanguageModel(configuration)
+
+    >>> # Accessing the model configuration
+    >>> configuration = model.config
+    ```"""
+
+    model_type = "florence2_language"
+    keys_to_ignore_at_inference = ["past_key_values"]
+    attribute_map = {"num_attention_heads": "encoder_attention_heads", "hidden_size": "d_model"}
+
+    def __init__(
+        self,
+        vocab_size=51289,
+        max_position_embeddings=1024,
+        encoder_layers=12,
+        encoder_ffn_dim=4096,
+        encoder_attention_heads=16,
+        decoder_layers=12,
+        decoder_ffn_dim=4096,
+        decoder_attention_heads=16,
+        encoder_layerdrop=0.0,
+        decoder_layerdrop=0.0,
+        activation_function="gelu",
+        d_model=1024,
+        dropout=0.1,
+        attention_dropout=0.0,
+        activation_dropout=0.0,
+        init_std=0.02,
+        classifier_dropout=0.0,
+        scale_embedding=False,
+        use_cache=True,
+        num_labels=3,
+        pad_token_id=1,
+        bos_token_id=0,
+        eos_token_id=2,
+        is_encoder_decoder=True,
+        decoder_start_token_id=2,
+        forced_eos_token_id=2,
+        **kwargs,
+    ):
+        self.vocab_size = vocab_size
+        self.max_position_embeddings = max_position_embeddings
+        self.d_model = d_model
+        self.encoder_ffn_dim = encoder_ffn_dim
+        self.encoder_layers = encoder_layers
+        self.encoder_attention_heads = encoder_attention_heads
+        self.decoder_ffn_dim = decoder_ffn_dim
+        self.decoder_layers = decoder_layers
+        self.decoder_attention_heads = decoder_attention_heads
+        self.dropout = dropout
+        self.attention_dropout = attention_dropout
+        self.activation_dropout = activation_dropout
+        self.activation_function = activation_function
+        self.init_std = init_std
+        self.encoder_layerdrop = encoder_layerdrop
+        self.decoder_layerdrop = decoder_layerdrop
+        self.classifier_dropout = classifier_dropout
+        self.use_cache = use_cache
+        self.num_hidden_layers = encoder_layers
+        self.scale_embedding = scale_embedding  # scale factor will be sqrt(d_model) if True
+
+        super().__init__(
+            num_labels=num_labels,
+            pad_token_id=pad_token_id,
+            bos_token_id=bos_token_id,
+            eos_token_id=eos_token_id,
+            is_encoder_decoder=is_encoder_decoder,
+            decoder_start_token_id=decoder_start_token_id,
+            forced_eos_token_id=forced_eos_token_id,
+            **kwargs,
+        )
+
+        # ensure backward compatibility for BART CNN models
+        if self.forced_bos_token_id is None and kwargs.get("force_bos_token_to_be_generated", False):
+            self.forced_bos_token_id = self.bos_token_id
+            warnings.warn(
+                f"Please make sure the config includes `forced_bos_token_id={self.bos_token_id}` in future versions. "
+                "The config can simply be saved and uploaded again to be fixed.",
+                stacklevel=2,
+            )
+
+
+class Florence2Config(PretrainedConfig):
+    r"""
+    This is the configuration class to store the configuration of a [`Florence2ForConditionalGeneration`]. It is used to instantiate an
+    Florence-2 model according to the specified arguments, defining the model architecture.
+
+    Configuration objects inherit from [`PretrainedConfig`] and can be used to control the model outputs. Read the
+    documentation from [`PretrainedConfig`] for more information.
+
+    Args:
+        vision_config (`Florence2VisionConfig`,  *optional*):
+            Custom vision config or dict
+        text_config (`Union[AutoConfig, dict]`, *optional*):
+            The config object of the text backbone.
+        ignore_index (`int`, *optional*, defaults to -100):
+            The ignore index for the loss function.
+        vocab_size (`int`, *optional*, defaults to 51289):
+            Vocabulary size of the Florence2model. Defines the number of different tokens that can be represented by the
+            `inputs_ids` passed when calling [`~Florence2ForConditionalGeneration`]
+        projection_dim (`int`, *optional*, defaults to 1024):
+            Dimension of the multimodal projection space.
+
+    Example:
+
+    ```python
+    >>> from transformers import Florence2ForConditionalGeneration, Florence2Config, CLIPVisionConfig, BartConfig
+
+    >>> # Initializing a clip-like vision config
+    >>> vision_config = CLIPVisionConfig()
+
+    >>> # Initializing a Bart config
+    >>> text_config = BartConfig()
+
+    >>> # Initializing a Florence-2 configuration
+    >>> configuration = Florence2Config(vision_config, text_config)
+
+    >>> # Initializing a model from the florence-2 configuration
+    >>> model = Florence2ForConditionalGeneration(configuration)
+
+    >>> # Accessing the model configuration
+    >>> configuration = model.config
+    ```"""
+
+    model_type = "florence2"
+    is_composition = False
+
+    def __init__(
+        self,
+        vision_config=None,
+        text_config=None,
+        ignore_index=-100,
+        vocab_size=51289,
+        projection_dim=1024,
+        **kwargs,
+    ):
+        self.ignore_index = ignore_index
+        self.vocab_size = vocab_size
+        self.projection_dim = projection_dim
+        if vision_config is not None:
+            vision_config = Florence2VisionConfig(**vision_config)
+        self.vision_config = vision_config
+
+        self.text_config = text_config
+        if text_config is not None:
+            self.text_config = Florence2LanguageConfig(**text_config)
+
+        super().__init__(**kwargs)

src/lerobot/policies/xvla/configuration_xvla.py

@@ -0,0 +1,190 @@
+#!/usr/bin/env python
+
+# ------------------------------------------------------------------------------
+# Copyright 2025 The HuggingFace Inc. team and 2toINF (https://github.com/2toINF)
+#
+# 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.
+# ------------------------------------------------------------------------------
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from typing import TYPE_CHECKING, Any
+
+from lerobot.configs.policies import PreTrainedConfig
+from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.optim.optimizers import AdamWConfig
+from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.utils.constants import OBS_IMAGES
+
+# Conditional import for type checking and lazy loading
+from lerobot.utils.import_utils import _transformers_available
+
+if TYPE_CHECKING or _transformers_available:
+    from .configuration_florence2 import Florence2Config
+else:
+    Florence2Config = None
+
+
+@PreTrainedConfig.register_subclass("xvla")
+@dataclass
+class XVLAConfig(PreTrainedConfig):
+    """
+    Configuration class for the XVLA (Extended Vision-Language-Action) policy so it can
+    plug into the LeRobot training stack.
+
+    The config mirrors the knobs exposed in the original XVLA repository but also
+    declares the input/output feature contract required by LeRobot.
+    """
+
+    # Input / output structure
+    n_obs_steps: int = 1
+    chunk_size: int = 32
+    n_action_steps: int = 32
+    dtype: str = "float32"  # Options: "bfloat16", "float32"
+
+    normalization_mapping: dict[str, NormalizationMode] = field(
+        default_factory=lambda: {
+            "VISUAL": NormalizationMode.IDENTITY,
+            "STATE": NormalizationMode.IDENTITY,
+            "ACTION": NormalizationMode.MEAN_STD,
+        }
+    )
+
+    # Florence2 backbone and tokenizer configuration
+    florence_config: dict[str, Any] = field(default_factory=dict)
+    tokenizer_name: str = "facebook/bart-large"
+    tokenizer_max_length: int = 64
+    tokenizer_padding_side: str = "right"
+    pad_language_to: str = "max_length"
+
+    # Transformer head
+    hidden_size: int = 1024
+    depth: int = 24
+    num_heads: int = 16
+    mlp_ratio: float = 4.0
+    num_domains: int = 30
+    len_soft_prompts: int = 32
+    dim_time: int = 32
+    max_len_seq: int = 512
+    use_hetero_proj: bool = False
+
+    # Action & proprioception
+    action_mode: str = "ee6d"
+    num_denoising_steps: int = 10
+    use_proprio: bool = True
+    max_state_dim: int = 32
+    domain_feature_key: str | None = None
+
+    # Vision preprocessing
+    resize_imgs_with_padding: tuple[int, int] | None = None
+    num_image_views: int | None = None
+    empty_cameras: int = 0
+
+    # Freezing options for VLM components
+    # By default, VLM encoders are frozen and only policy transformer + soft prompts train
+    freeze_vision_encoder: bool = True  # Freeze VLM vision encoder weights
+    freeze_language_encoder: bool = True  # Freeze VLM language encoder weights
+    train_policy_transformer: bool = True  # Allow policy transformer to train
+    train_soft_prompts: bool = True  # Allow soft prompts to train
+
+    # Training presets
+    optimizer_lr: float = 1e-4
+    optimizer_betas: tuple[float, float] = (0.9, 0.95)
+    optimizer_eps: float = 1e-8
+    optimizer_weight_decay: float = 1e-4
+    optimizer_grad_clip_norm: float = 10.0
+
+    scheduler_warmup_steps: int = 1_000
+    scheduler_decay_steps: int = 30_000
+    scheduler_decay_lr: float = 2.5e-6
+
+    def __post_init__(self) -> None:
+        super().__post_init__()
+
+        if self.chunk_size <= 0:
+            raise ValueError("`chunk_size` must be strictly positive.")
+        if self.n_action_steps > self.chunk_size:
+            raise ValueError(
+                f"`n_action_steps` ({self.n_action_steps}) must be <= `chunk_size` ({self.chunk_size})."
+            )
+        if self.num_image_views is not None and self.num_image_views <= 0:
+            raise ValueError("`num_image_views` must be > 0 when specified.")
+        if self.dtype not in ["bfloat16", "float32"]:
+            raise ValueError(f"Invalid dtype: {self.dtype}")
+        self._florence_config_obj: Florence2Config | None = None
+
+    def get_florence_config(self) -> Florence2Config:
+        """
+        Build (and cache) the Florence2 transformer config that should back the VLM.
+        """
+        if self._florence_config_obj is None:
+            config_dict = dict(self.florence_config)
+            if "vision_config" not in config_dict or config_dict["vision_config"] is None:
+                raise ValueError("vision_config is required")
+
+            if "text_config" not in config_dict or config_dict["text_config"] is None:
+                raise ValueError("text_config is required")
+            self._florence_config_obj = Florence2Config(**config_dict)
+        return self._florence_config_obj
+
+    def validate_features(self) -> None:
+        if not self.image_features:
+            raise ValueError("XVLA requires at least one visual feature in the inputs.")
+        if self.use_proprio and self.robot_state_feature is None:
+            raise ValueError("`use_proprio=True` requires a proprioceptive state feature.")
+        if self.num_image_views is None:
+            self.num_image_views = len(self.image_features) + self.empty_cameras
+        else:
+            self.num_image_views = max(self.num_image_views, len(self.image_features) + self.empty_cameras)
+
+        if self.empty_cameras > 0:
+            height, width = (480, 640)
+            if self.resize_imgs_with_padding is not None:
+                height, width = self.resize_imgs_with_padding
+            for idx in range(self.empty_cameras):
+                key = f"{OBS_IMAGES}.empty_camera_{idx}"
+                if key not in self.input_features:
+                    self.input_features[key] = PolicyFeature(
+                        type=FeatureType.VISUAL,
+                        shape=(3, height, width),
+                    )
+
+    def get_optimizer_preset(self) -> AdamWConfig:
+        return AdamWConfig(
+            lr=self.optimizer_lr,
+            betas=self.optimizer_betas,
+            eps=self.optimizer_eps,
+            weight_decay=self.optimizer_weight_decay,
+            grad_clip_norm=self.optimizer_grad_clip_norm,
+        )
+
+    def get_scheduler_preset(self) -> CosineDecayWithWarmupSchedulerConfig:
+        return CosineDecayWithWarmupSchedulerConfig(
+            peak_lr=self.optimizer_lr,
+            decay_lr=self.scheduler_decay_lr,
+            num_warmup_steps=self.scheduler_warmup_steps,
+            num_decay_steps=self.scheduler_decay_steps,
+        )
+
+    @property
+    def observation_delta_indices(self) -> list[int] | None:
+        return None
+
+    @property
+    def action_delta_indices(self) -> list[int]:
+        return list(range(self.chunk_size))
+
+    @property
+    def reward_delta_indices(self) -> list[int] | None:
+        return None

src/lerobot/policies/xvla/modeling_xvla.py

@@ -0,0 +1,526 @@
+#!/usr/bin/env python
+
+# ------------------------------------------------------------------------------
+# Copyright 2025 The HuggingFace Inc. team and 2toINF (https://github.com/2toINF)
+#
+# 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.
+# ------------------------------------------------------------------------------
+
+from __future__ import annotations
+
+import builtins
+import logging
+import os
+from collections import deque
+from pathlib import Path
+
+import torch
+import torch.nn.functional as F  # noqa: N812
+from torch import Tensor, nn
+
+from lerobot.configs.policies import PreTrainedConfig
+from lerobot.policies.pretrained import PreTrainedPolicy, T
+from lerobot.policies.utils import populate_queues
+from lerobot.utils.constants import ACTION, OBS_LANGUAGE_TOKENS, OBS_STATE
+
+from .action_hub import build_action_space
+from .configuration_florence2 import Florence2Config
+from .configuration_xvla import XVLAConfig
+from .modeling_florence2 import Florence2ForConditionalGeneration
+from .soft_transformer import SoftPromptedTransformer
+
+
+class XVLAModel(nn.Module):
+    """
+    XVLA backbone that stitches Florence-2 embeddings with the temporal/action transformer head.
+    """
+
+    def __init__(
+        self,
+        config: XVLAConfig,
+        florence_config: Florence2Config,
+        proprio_dim: int,
+    ) -> None:
+        super().__init__()
+        self.config = config
+        self.chunk_size: int = config.chunk_size
+        self.use_proprio: bool = config.use_proprio
+        self.action_space = build_action_space(config.action_mode.lower())
+        self.dim_action = self.action_space.dim_action
+        self.dim_proprio = proprio_dim
+
+        self.vlm = Florence2ForConditionalGeneration(florence_config)
+        if hasattr(self.vlm, "language_model"):
+            lm = self.vlm.language_model
+            if hasattr(lm, "model") and hasattr(lm.model, "decoder"):
+                del lm.model.decoder
+            if hasattr(lm, "lm_head"):
+                del lm.lm_head
+
+        projection_dim = getattr(self.vlm.config, "projection_dim", None)
+        if projection_dim is None:
+            raise ValueError("Florence2 config must provide `projection_dim` for multimodal fusion.")
+
+        self.transformer = SoftPromptedTransformer(
+            hidden_size=config.hidden_size,
+            multi_modal_input_size=projection_dim,
+            depth=config.depth,
+            num_heads=config.num_heads,
+            mlp_ratio=config.mlp_ratio,
+            num_domains=config.num_domains,
+            dim_action=self.dim_action,
+            dim_propio=self.dim_proprio,
+            len_soft_prompts=config.len_soft_prompts,
+            dim_time=config.dim_time,
+            max_len_seq=config.max_len_seq,
+            use_hetero_proj=config.use_hetero_proj,
+        )
+
+        # Apply freezing based on config
+        self._apply_freezing()
+
+        # Apply dtype casting based on config
+        self._apply_dtype()
+
+    def _get_target_dtype(self) -> torch.dtype:
+        """Get the target dtype based on config."""
+        if self.config.dtype == "bfloat16":
+            return torch.bfloat16
+        return torch.float32
+
+    def _apply_dtype(self) -> None:
+        """
+        Apply dtype casting to model components based on config.
+        """
+        target_dtype = self._get_target_dtype()
+        self.to(dtype=target_dtype)
+
+    def _apply_freezing(self) -> None:
+        """
+        Freeze VLM vision and language encoders based on config options.
+        Keep only policy transformer and soft prompts trainable.
+        """
+        # Freeze vision encoder
+        if self.config.freeze_vision_encoder and hasattr(self.vlm, "vision_tower"):
+            for param in self.vlm.vision_tower.parameters():
+                param.requires_grad = False
+
+        # Freeze language encoder
+        if self.config.freeze_language_encoder and hasattr(self.vlm, "language_model"):
+            lm = self.vlm.language_model
+            # Freeze encoder
+            if hasattr(lm, "model") and hasattr(lm.model, "encoder"):
+                for param in lm.model.encoder.parameters():
+                    param.requires_grad = False
+            # Freeze shared embeddings
+            if hasattr(lm, "model") and hasattr(lm.model, "shared"):
+                for param in lm.model.shared.parameters():
+                    param.requires_grad = False
+
+        # Freeze or unfreeze policy transformer
+        if not self.config.train_policy_transformer:
+            for name, param in self.transformer.named_parameters():
+                if "soft_prompts" not in name:
+                    param.requires_grad = False
+
+        # Freeze or unfreeze soft prompts
+        if not self.config.train_soft_prompts and hasattr(self.transformer, "soft_prompt_hub"):
+            for param in self.transformer.soft_prompt_hub.parameters():
+                param.requires_grad = False
+
+    def forward_vlm(
+        self,
+        input_ids: torch.LongTensor,
+        pixel_values: torch.FloatTensor,
+        image_mask: torch.Tensor,
+    ) -> dict[str, torch.Tensor]:
+        """
+        Encode text and multi-view images via Florence2 encoder.
+        """
+        batch_size, num_views = pixel_values.shape[:2]
+        flat_mask = image_mask.view(-1).to(dtype=torch.bool)
+        flat_images = pixel_values.flatten(0, 1)
+        num_valid = int(flat_mask.sum().item())
+        if num_valid == 0:
+            raise ValueError("At least one image view must be valid per batch.")
+
+        valid_images = flat_images[flat_mask]
+        valid_feats = self.vlm._encode_image(valid_images)
+        tokens_per_view, hidden_dim = valid_feats.shape[1:]
+
+        image_features = valid_feats.new_zeros((batch_size * num_views, tokens_per_view, hidden_dim))
+        image_features[flat_mask] = valid_feats
+        image_features = image_features.view(batch_size, num_views, tokens_per_view, hidden_dim)
+        inputs_embeds = self.vlm.get_input_embeddings()(input_ids)
+        merged_embeds, attention_mask = self.vlm._merge_input_ids_with_image_features(
+            image_features[:, 0],
+            inputs_embeds,
+        )
+
+        enc_out = self.vlm.language_model.model.encoder(
+            attention_mask=attention_mask,
+            inputs_embeds=merged_embeds,
+        )[0]
+
+        aux_visual_inputs = image_features[:, 1:].reshape(batch_size, -1, hidden_dim)
+        return {"vlm_features": enc_out, "aux_visual_inputs": aux_visual_inputs}
+
+    def forward(
+        self,
+        input_ids: torch.LongTensor,
+        image_input: torch.FloatTensor,
+        image_mask: torch.Tensor,
+        domain_id: torch.LongTensor,
+        proprio: torch.Tensor,
+        action: torch.Tensor,
+    ) -> dict[str, torch.Tensor]:
+        enc = self.forward_vlm(input_ids, image_input, image_mask)
+
+        batch_size = input_ids.shape[0]
+        t = (
+            torch.rand(1, device=input_ids.device)
+            + torch.arange(batch_size, device=input_ids.device) / batch_size
+        ) % (1 - 1e-5)
+
+        action_noisy = torch.randn_like(action) * t.view(-1, 1, 1) + action * (1 - t).view(-1, 1, 1)
+        proprio_m, action_noisy_m = self.action_space.preprocess(proprio, action_noisy)
+
+        pred_action = self.transformer(
+            domain_id=domain_id,
+            action_with_noise=action_noisy_m,
+            t=t,
+            proprio=proprio_m,
+            **enc,
+        )
+        return self.action_space.compute_loss(pred_action, action)
+
+    @torch.no_grad()
+    def generate_actions(
+        self,
+        input_ids: torch.LongTensor,
+        image_input: torch.FloatTensor,
+        image_mask: torch.Tensor,
+        domain_id: torch.LongTensor,
+        proprio: torch.Tensor,
+        steps: int,
+    ) -> torch.Tensor:
+        self.eval()
+        enc = self.forward_vlm(input_ids, image_input, image_mask)
+
+        batch_size = input_ids.shape[0]
+        action_dim = self.dim_action
+
+        x1 = torch.randn(batch_size, self.chunk_size, action_dim, device=proprio.device, dtype=proprio.dtype)
+        action = torch.zeros_like(x1)
+
+        steps = max(1, int(steps))
+        for i in range(steps, 0, -1):
+            t = torch.full((batch_size,), i / steps, device=proprio.device, dtype=proprio.dtype)
+            x_t = x1 * t.view(-1, 1, 1) + action * (1 - t).view(-1, 1, 1)
+            proprio_m, x_t_m = self.action_space.preprocess(proprio, x_t)
+            action = self.transformer(
+                domain_id=domain_id,
+                action_with_noise=x_t_m,
+                proprio=proprio_m,
+                t=t,
+                **enc,
+            )
+        return self.action_space.postprocess(action)
+
+
+class XVLAPolicy(PreTrainedPolicy):
+    """LeRobot-compliant wrapper built around the XVLA model."""
+
+    config_class = XVLAConfig
+    name = "xvla"
+
+    def __init__(self, config: XVLAConfig):
+        super().__init__(config)
+        config.validate_features()
+        florence_config = config.get_florence_config()
+        proprio_dim = config.max_state_dim if config.use_proprio else 0
+        self.model = XVLAModel(config=config, florence_config=florence_config, proprio_dim=proprio_dim)
+        self.reset()
+
+    def reset(self) -> None:
+        self._queues = {
+            ACTION: deque(maxlen=self.config.n_action_steps),
+        }
+
+    def get_optim_params(self) -> dict:
+        """Return only trainable parameters for optimization."""
+        return filter(lambda p: p.requires_grad, self.parameters())
+
+    def _prepare_state(self, batch: dict[str, Tensor], batch_size: int, device: torch.device) -> Tensor:
+        if not self.config.use_proprio or OBS_STATE not in batch:
+            return torch.zeros(batch_size, 0, device=device)
+        state = batch[OBS_STATE]
+        if state.ndim > 2:
+            state = state[:, -1, :]
+        return pad_vector(state, self.model.dim_proprio)
+
+    def _prepare_images(self, batch: dict[str, Tensor]) -> tuple[Tensor, Tensor]:
+        present_img_keys = [key for key in self.config.image_features if key in batch]
+        if len(present_img_keys) == 0:
+            raise ValueError(
+                "All image features are missing from the batch. "
+                f"Batch keys: {list(batch.keys())}, expected at least one of {list(self.config.image_features)}."
+            )
+
+        images = []
+        masks = []
+        for key in present_img_keys:
+            img = batch[key][:, -1] if batch[key].ndim == 5 else batch[key]
+            if self.config.resize_imgs_with_padding is not None:
+                img = resize_with_pad(img, *self.config.resize_imgs_with_padding)
+            images.append(img)
+            masks.append(torch.ones(img.size(0), dtype=torch.bool, device=img.device))
+
+        stacked_imgs = torch.stack(images, dim=1)
+        stacked_masks = torch.stack(masks, dim=1)
+
+        total_views = self.config.num_image_views or stacked_imgs.size(1)
+        total_views = max(total_views, stacked_imgs.size(1))
+        num_pad = total_views - stacked_imgs.size(1)
+        if num_pad > 0:
+            pad_shape = (stacked_imgs.size(0), num_pad, *stacked_imgs.shape[2:])
+            pad_imgs = stacked_imgs.new_zeros(pad_shape)
+            pad_masks = stacked_masks.new_zeros((stacked_masks.size(0), num_pad))
+            stacked_imgs = torch.cat([stacked_imgs, pad_imgs], dim=1)
+            stacked_masks = torch.cat([stacked_masks, pad_masks], dim=1)
+
+        return stacked_imgs, stacked_masks
+
+    def _get_domain_id(self, batch: dict[str, Tensor], batch_size: int, device: torch.device) -> Tensor:
+        candidate = None
+        if self.config.domain_feature_key and self.config.domain_feature_key in batch:
+            candidate = batch[self.config.domain_feature_key]
+        elif "domain_id" in batch:
+            candidate = batch["domain_id"]
+
+        if candidate is None:
+            return torch.zeros(batch_size, dtype=torch.long, device=device)
+
+        if not isinstance(candidate, torch.Tensor):
+            candidate = torch.as_tensor(candidate, device=device)
+        else:
+            candidate = candidate.to(device=device)
+
+        if candidate.ndim == 0:
+            candidate = candidate.expand(batch_size)
+        if candidate.ndim > 1:
+            candidate = candidate.view(candidate.shape[0], -1)[:, 0]
+        if candidate.shape[0] != batch_size:
+            candidate = candidate.expand(batch_size)
+        return candidate.to(dtype=torch.long)
+
+    def _prepare_action_targets(self, batch: dict[str, Tensor]) -> Tensor:
+        if ACTION not in batch:
+            raise ValueError("Batch is missing action targets required for training.")
+        actions = batch[ACTION]
+        if actions.ndim == 2:
+            actions = actions.unsqueeze(1)
+        actions = pad_tensor_along_dim(actions, self.config.chunk_size, dim=1)
+        if actions.shape[-1] != self.model.dim_action:
+            actions = pad_vector(actions, self.model.dim_action)
+        return actions
+
+    def _build_model_inputs(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
+        input_ids = batch[OBS_LANGUAGE_TOKENS]
+        batch_size = input_ids.shape[0]
+        images, image_mask = self._prepare_images(batch)
+        domain_id = self._get_domain_id(batch, batch_size, images.device)
+        proprio = self._prepare_state(batch, batch_size, images.device)
+        return {
+            "input_ids": input_ids,
+            "image_input": images,
+            "image_mask": image_mask,
+            "domain_id": domain_id,
+            "proprio": proprio,
+        }
+
+    def _trim_action_dim(self, actions: Tensor) -> Tensor:
+        feature = self.config.action_feature
+        if feature is None:
+            return actions
+        desired_dim = self.model.dim_action
+        if desired_dim == actions.shape[-1]:
+            return actions
+        if desired_dim < actions.shape[-1]:
+            return actions[..., :desired_dim]
+        return pad_vector(actions, desired_dim)
+
+    def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
+        inputs = self._build_model_inputs(batch)
+        targets = self._prepare_action_targets(batch)
+        losses = self.model(action=targets, **inputs)
+        total_loss = sum(losses.values())
+
+        log_dict = {k: v.detach().item() for k, v in losses.items()}
+        log_dict["loss"] = total_loss.detach().item()
+        return total_loss, log_dict
+
+    def _get_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
+        inputs = self._build_model_inputs(batch)
+        actions = self.model.generate_actions(**inputs, steps=self.config.num_denoising_steps)
+        actions = self._trim_action_dim(actions)
+        return actions
+
+    @torch.no_grad()
+    def predict_action_chunk(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:  # noqa: ARG002
+        self.eval()
+        self._queues = populate_queues(self._queues, batch, exclude_keys=[ACTION])
+        return self._get_action_chunk(batch)
+
+    @torch.no_grad()
+    def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:  # noqa: ARG002
+        self.eval()
+        self._queues = populate_queues(self._queues, batch, exclude_keys=[ACTION])
+
+        if len(self._queues[ACTION]) == 0:
+            actions = self._get_action_chunk(batch)
+            self._queues[ACTION].extend(actions.transpose(0, 1)[: self.config.n_action_steps])
+
+        return self._queues[ACTION].popleft()
+
+    @classmethod
+    def from_pretrained(
+        cls: builtins.type[T],
+        pretrained_name_or_path: str | Path,
+        *,
+        config: PreTrainedConfig | None = None,
+        force_download: bool = False,
+        resume_download: bool | None = None,
+        proxies: dict | None = None,
+        token: str | bool | None = None,
+        cache_dir: str | Path | None = None,
+        local_files_only: bool = False,
+        revision: str | None = None,
+        strict: bool = False,
+        **kwargs,
+    ):
+        """
+        Loads XVLA model weights with:
+        - automatic prefix 'model.' added to all keys
+        - skip list for layers that should remain randomly initialized
+        """
+        import safetensors.torch
+
+        # step 1: load config
+        # TODO: jadechoghari, fix this
+        if config is None:
+            config = PreTrainedConfig.from_pretrained(
+                pretrained_name_or_path=pretrained_name_or_path,
+                force_download=force_download,
+                resume_download=resume_download,
+                proxies=proxies,
+                token=token,
+                cache_dir=cache_dir,
+                local_files_only=local_files_only,
+                revision=revision,
+                **kwargs,
+            )
+
+        model_id = str(pretrained_name_or_path)
+        instance = cls(config, **kwargs)
+        # step 2: locate model.safetensors
+        if os.path.isdir(model_id):
+            logging.info("Loading weights from local directory")
+            model_file = os.path.join(model_id, "model.safetensors")
+        else:
+            try:
+                from huggingface_hub import hf_hub_download
+                from huggingface_hub.utils import HfHubHTTPError
+
+                model_file = hf_hub_download(
+                    repo_id=model_id,
+                    filename="model.safetensors",
+                    revision=revision,
+                    cache_dir=cache_dir,
+                    force_download=force_download,
+                    proxies=proxies,
+                    resume_download=resume_download,
+                    token=token,
+                    local_files_only=local_files_only,
+                )
+            except HfHubHTTPError as e:
+                raise FileNotFoundError(f"model.safetensors not found on the Hub at {model_id}") from e
+
+        logging.info(f"Loading checkpoint from {model_file}")
+        # step 3: load state dict
+        state_dict = safetensors.torch.load_file(model_file)
+        encoder_key = "model.vlm.language_model.model.encoder.embed_tokens.weight"
+        shared_key = "model.vlm.language_model.model.shared.weight"
+        if encoder_key in state_dict:
+            state_dict[shared_key] = state_dict[encoder_key]
+            # or deepcopy
+        # step 4: load into instance
+        instance.load_state_dict(state_dict, strict=True)
+        logging.info("Loaded XVLA checkpoint")
+        # step 5: finalize
+        # Reapply dtype after loading state dict
+        instance.model._apply_dtype()
+        instance.to(config.device)
+        instance.eval()
+        return instance
+
+
+def resize_with_pad(img: torch.Tensor, height: int, width: int, pad_value: float = 0.0) -> torch.Tensor:
+    if img.ndim != 4:
+        raise ValueError(f"(b,c,h,w) expected, but got {img.shape}")
+
+    current_height, current_width = img.shape[2:]
+    if current_height == height and current_width == width:
+        return img
+
+    ratio = max(current_width / width, current_height / height)
+    resized_height = int(current_height / ratio)
+    resized_width = int(current_width / ratio)
+    resized_img = F.interpolate(
+        img, size=(resized_height, resized_width), mode="bilinear", align_corners=False
+    )
+
+    pad_height = max(0, height - resized_height)
+    pad_width = max(0, width - resized_width)
+    padded_img = F.pad(resized_img, (pad_width, 0, pad_height, 0), value=pad_value)
+    return padded_img
+
+
+def pad_vector(vector: Tensor, new_dim: int) -> Tensor:
+    if vector.shape[-1] == new_dim:
+        return vector
+    if new_dim == 0:
+        shape = list(vector.shape)
+        shape[-1] = 0
+        return vector.new_zeros(*shape)
+    shape = list(vector.shape)
+    current_dim = shape[-1]
+    shape[-1] = new_dim
+    new_vector = vector.new_zeros(*shape)
+    length = min(current_dim, new_dim)
+    new_vector[..., :length] = vector[..., :length]
+    return new_vector
+
+
+def pad_tensor_along_dim(tensor: Tensor, target_len: int, dim: int = 1) -> Tensor:
+    current_len = tensor.size(dim)
+    if current_len == target_len:
+        return tensor
+    if current_len > target_len:
+        slices = [slice(None)] * tensor.dim()
+        slices[dim] = slice(0, target_len)
+        return tensor[tuple(slices)]
+    pad_shape = list(tensor.shape)
+    pad_shape[dim] = target_len - current_len
+    pad_tensor = tensor.new_zeros(pad_shape)
+    return torch.cat([tensor, pad_tensor], dim=dim)

src/lerobot/policies/xvla/processor_xvla.py

@@ -0,0 +1,551 @@
+# ------------------------------------------------------------------------------
+# Copyright 2025 The HuggingFace Inc. team and 2toINF (https://github.com/2toINF)
+#
+# 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.
+# ------------------------------------------------------------------------------
+
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+import torch
+
+from lerobot.configs.types import PipelineFeatureType, PolicyFeature
+from lerobot.datasets.factory import IMAGENET_STATS
+from lerobot.policies.xvla.configuration_xvla import XVLAConfig
+from lerobot.policies.xvla.utils import rotate6d_to_axis_angle
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    ObservationProcessorStep,
+    PolicyAction,
+    PolicyProcessorPipeline,
+    ProcessorStep,
+    ProcessorStepRegistry,
+    RenameObservationsProcessorStep,
+    TokenizerProcessorStep,
+    UnnormalizerProcessorStep,
+)
+from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
+from lerobot.processor.core import EnvTransition, TransitionKey
+from lerobot.utils.constants import (
+    OBS_IMAGES,
+    OBS_STATE,
+    POLICY_POSTPROCESSOR_DEFAULT_NAME,
+    POLICY_PREPROCESSOR_DEFAULT_NAME,
+)
+
+
+def make_xvla_pre_post_processors(
+    config: XVLAConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+) -> tuple[
+    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    PolicyProcessorPipeline[PolicyAction, PolicyAction],
+]:
+    """
+    Build the LeRobot processor pipelines for XVLA.
+    """
+
+    features = {**config.input_features, **config.output_features}
+    input_steps = [
+        RenameObservationsProcessorStep(rename_map={}),
+        AddBatchDimensionProcessorStep(),
+        TokenizerProcessorStep(
+            tokenizer_name=config.tokenizer_name,
+            max_length=config.tokenizer_max_length,
+            padding=config.pad_language_to,
+            padding_side=config.tokenizer_padding_side,
+        ),
+        XVLAImageToFloatProcessorStep(),
+        XVLAImageNetNormalizeProcessorStep(),
+        XVLAAddDomainIdProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+        NormalizerProcessorStep(
+            features=features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    output_steps = [
+        UnnormalizerProcessorStep(
+            features=config.output_features,
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        DeviceProcessorStep(device="cpu"),
+    ]
+
+    return (
+        PolicyProcessorPipeline[dict[str, Any], dict[str, Any]](
+            steps=input_steps,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
+        ),
+        PolicyProcessorPipeline[PolicyAction, PolicyAction](
+            steps=output_steps,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
+            to_transition=policy_action_to_transition,
+            to_output=transition_to_policy_action,
+        ),
+    )
+
+
+# Custom XVLA processor steps
+@dataclass
+class LiberoProcessorStep(ObservationProcessorStep):
+    """
+    Processes LIBERO observations into the LeRobot format.
+
+    This step handles the specific observation structure from LIBERO environments,
+    which includes nested robot_state dictionaries and image observations.
+
+    **State Processing:**
+    -   Processes the `robot_state` dictionary which contains nested end-effector,
+        gripper, and joint information.
+    -   Extracts and concatenates:
+        - End-effector position (3D)
+        - End-effector quaternion converted to axis-angle (3D)
+        - Gripper joint positions (2D)
+    -   Maps the concatenated state to `"observation.state"`.
+
+    **Image Processing:**
+    -   Rotates images by 180 degrees by flipping both height and width dimensions.
+    -   This accounts for the HuggingFaceVLA/libero camera orientation convention.
+    """
+
+    def _process_observation(self, observation):
+        """
+        Processes both image and robot_state observations from LIBERO.
+        """
+        processed_obs = observation.copy()
+        for key in list(processed_obs.keys()):
+            if key.startswith(f"{OBS_IMAGES}."):
+                img = processed_obs[key]
+
+                if key == f"{OBS_IMAGES}.image":
+                    # Flip both H and W
+                    img = torch.flip(img, dims=[2, 3])
+
+                processed_obs[key] = img
+        # Process robot_state into a flat state vector
+        if "observation.robot_state" in processed_obs:
+            robot_state = processed_obs.pop("observation.robot_state")
+
+            # Extract components
+            eef_pos = robot_state["eef"]["pos"]  # (B, 3,)
+            eef_mat = robot_state["eef"]["mat"]  # (B, 3, 3)
+            eef_rot6d = self._mat_to_rotate6d(eef_mat)  # (B, 6)
+
+            extra = torch.zeros((eef_pos.shape[0], 1), dtype=torch.float32, device=eef_pos.device)
+
+            proprio_state = torch.cat((eef_pos, eef_rot6d, extra), dim=-1)  # (B, 10)
+            state = torch.cat((proprio_state, torch.zeros_like(proprio_state)), dim=-1)  # (B, 20)
+            # ensure float32
+            state = state.float()
+            if state.dim() == 1:
+                state = state.unsqueeze(0)
+
+            processed_obs[OBS_STATE] = state
+        return processed_obs
+
+    def transform_features(
+        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
+    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """
+        Transforms feature keys from the LIBERO format to the LeRobot standard.
+        """
+        new_features: dict[PipelineFeatureType, dict[str, PolicyFeature]] = {}
+
+        # copy over non-STATE features
+        for ft, feats in features.items():
+            if ft != PipelineFeatureType.STATE:
+                new_features[ft] = feats.copy()
+
+        # rebuild STATE features
+        state_feats = {}
+
+        # add our new flattened state
+        state_feats["observation.state"] = PolicyFeature(
+            key="observation.state",
+            shape=(20,),
+            dtype="float32",
+        )
+
+        new_features[PipelineFeatureType.STATE] = state_feats
+
+        return new_features
+
+    def _mat_to_rotate6d(self, rot_mats: torch.Tensor) -> torch.Tensor:
+        """
+        Convert batched rotation matrices (B, 3, 3) into 6D rotation representation (B, 6).
+
+        Args:
+            rot_mats (Tensor): Rotation matrices of shape (B, 3, 3)
+
+        Returns:
+            Tensor: 6D rotation representation, shape (B, 6)
+
+        Raises:
+            TypeError: if input is not a torch tensor
+            ValueError: if shape is not (B, 3, 3)
+        """
+
+        if not isinstance(rot_mats, torch.Tensor):
+            raise TypeError(f"mat_to_rot6d expects a torch.Tensor, got {type(rot_mats)}")
+
+        if rot_mats.ndim != 3 or rot_mats.shape[1:] != (3, 3):
+            raise ValueError(f"mat_to_rot6d expects shape (B, 3, 3), got {tuple(rot_mats.shape)}")
+
+        rot_mats = rot_mats.to(torch.float32)
+
+        col1 = rot_mats[:, :3, 0]  # (B, 3)
+        col2 = rot_mats[:, :3, 1]  # (B, 3)
+
+        rot6d = torch.cat([col1, col2], dim=-1)  # (B, 6)
+
+        return rot6d
+
+    def observation(self, observation):
+        return self._process_observation(observation)
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="xvla_image_scale")
+class XVLAImageScaleProcessorStep(ProcessorStep):
+    """Scale image observations by 255 to convert from [0, 1] to [0, 255] range.
+
+    This processor step multiplies all image observations by 255, which is required
+    for XVLA models that expect images in uint8-like range.
+
+    Args:
+        image_keys: List of observation keys that contain images to scale.
+                   If None, will automatically detect keys starting with "observation.images."
+    """
+
+    image_keys: list[str] | None = None
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Scale image observations by 255."""
+        new_transition = transition.copy()
+        obs = new_transition.get(TransitionKey.OBSERVATION, {})
+        if obs is None:
+            return new_transition
+
+        # Make a copy of observations to avoid modifying the original
+        obs = obs.copy()
+
+        # Determine which keys to scale
+        keys_to_scale = self.image_keys
+        if keys_to_scale is None:
+            # Auto-detect image keys
+            keys_to_scale = [k for k in obs if k.startswith("observation.images.")]
+
+        # Scale each image
+        for key in keys_to_scale:
+            if key in obs and isinstance(obs[key], torch.Tensor):
+                obs[key] = obs[key] * 255
+
+        new_transition[TransitionKey.OBSERVATION] = obs
+        return new_transition
+
+    def transform_features(self, features):
+        """Image scaling doesn't change feature structure."""
+        return features
+
+    def get_config(self) -> dict[str, Any]:
+        """Return serializable configuration."""
+        return {
+            "image_keys": self.image_keys,
+        }
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="xvla_image_to_float")
+class XVLAImageToFloatProcessorStep(ProcessorStep):
+    """Convert image observations from [0, 255] to [0, 1] range.
+
+    This processor step divides image observations by 255 to convert from uint8-like
+    range [0, 255] to float range [0, 1]. This is typically used when loading images
+    that are stored as uint8 values.
+
+    Args:
+        image_keys: List of observation keys that contain images to convert.
+                   If None, will automatically detect keys starting with "observation.images."
+        validate_range: If True, validates that input values are in [0, 255] range (default: True)
+
+    Raises:
+        ValueError: If validate_range is True and image values are not in [0, 255] range.
+    """
+
+    image_keys: list[str] | None = None
+    validate_range: bool = True
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Convert image observations from [0, 255] to [0, 1]."""
+        new_transition = transition.copy()
+        obs = new_transition.get(TransitionKey.OBSERVATION, {})
+        if obs is None:
+            return new_transition
+
+        # Make a copy of observations to avoid modifying the original
+        obs = obs.copy()
+
+        # Determine which keys to convert
+        keys_to_convert = self.image_keys
+        if keys_to_convert is None:
+            # Auto-detect image keys
+            keys_to_convert = [k for k in obs if k.startswith("observation.images.")]
+
+        # Convert each image
+        for key in keys_to_convert:
+            if key in obs and isinstance(obs[key], torch.Tensor):
+                tensor = obs[key]
+
+                # Validate that values are in [0, 255] range if requested
+                if self.validate_range:
+                    min_val = tensor.min().item()
+                    max_val = tensor.max().item()
+                    if min_val < 0.0 or max_val > 255.0:
+                        raise ValueError(
+                            f"Image '{key}' has values outside [0, 255] range: "
+                            f"min={min_val:.4f}, max={max_val:.4f}. "
+                            f"Cannot convert to [0, 1] range."
+                        )
+
+                # Convert to float and divide by 255
+                obs[key] = tensor.float() / 255.0
+
+        new_transition[TransitionKey.OBSERVATION] = obs
+        return new_transition
+
+    def transform_features(self, features):
+        """Image conversion doesn't change feature structure."""
+        return features
+
+    def get_config(self) -> dict[str, Any]:
+        """Return serializable configuration."""
+        return {
+            "image_keys": self.image_keys,
+            "validate_range": self.validate_range,
+        }
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="xvla_imagenet_normalize")
+class XVLAImageNetNormalizeProcessorStep(ProcessorStep):
+    """Normalize image observations using ImageNet statistics.
+
+    This processor step applies ImageNet normalization (mean and std) to image observations.
+    It validates that input values are in the [0, 1] range before normalizing.
+
+    The normalization formula is: (image - mean) / std
+
+    Args:
+        image_keys: List of observation keys that contain images to normalize.
+                   If None, will automatically detect keys starting with "observation.images."
+
+    Raises:
+        ValueError: If image values are not in the [0, 1] range.
+    """
+
+    image_keys: list[str] | None = None
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Normalize image observations using ImageNet statistics."""
+        new_transition = transition.copy()
+        obs = new_transition.get(TransitionKey.OBSERVATION, {})
+        if obs is None:
+            return new_transition
+
+        # Make a copy of observations to avoid modifying the original
+        obs = obs.copy()
+
+        # Determine which keys to normalize
+        keys_to_normalize = self.image_keys
+        if keys_to_normalize is None:
+            # Auto-detect image keys
+            keys_to_normalize = [k for k in obs if k.startswith("observation.images.")]
+
+        # Normalize each image
+        for key in keys_to_normalize:
+            if key in obs and isinstance(obs[key], torch.Tensor):
+                tensor = obs[key]
+
+                # Validate that values are in [0, 1] range
+                min_val = tensor.min().item()
+                max_val = tensor.max().item()
+                if min_val < 0.0 or max_val > 1.0:
+                    raise ValueError(
+                        f"Image '{key}' has values outside [0, 1] range: "
+                        f"min={min_val:.4f}, max={max_val:.4f}. "
+                        f"ImageNet normalization requires input values in [0, 1]."
+                    )
+
+                # Apply ImageNet normalization
+                mean = torch.tensor(IMAGENET_STATS["mean"], device=tensor.device, dtype=tensor.dtype)
+                std = torch.tensor(IMAGENET_STATS["std"], device=tensor.device, dtype=tensor.dtype)
+
+                # Expand mean/std to match tensor dims (e.g., BCHW or BNCHW)
+                while mean.dim() < tensor.dim():
+                    mean = mean.unsqueeze(0)
+                    std = std.unsqueeze(0)
+
+                # Normalize: (image - mean) / std
+                obs[key] = (tensor - mean) / std
+
+        new_transition[TransitionKey.OBSERVATION] = obs
+        return new_transition
+
+    def transform_features(self, features):
+        """ImageNet normalization doesn't change feature structure."""
+        return features
+
+    def get_config(self) -> dict[str, Any]:
+        """Return serializable configuration."""
+        return {
+            "image_keys": self.image_keys,
+        }
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="xvla_add_domain_id")
+class XVLAAddDomainIdProcessorStep(ProcessorStep):
+    """Add domain_id to complementary data.
+
+    This processor step adds a domain_id tensor to the complementary data,
+    which is used by XVLA to identify different robot embodiments or task domains.
+
+    Args:
+        domain_id: The domain ID to add (default: 3)
+    """
+
+    domain_id: int = 0
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Add domain_id to complementary data."""
+        new_transition = transition.copy()
+        comp = new_transition.get(TransitionKey.COMPLEMENTARY_DATA, {})
+        comp = {} if comp is None else comp.copy()
+
+        # Infer batch size from observation tensors
+        obs = new_transition.get(TransitionKey.OBSERVATION, {})
+        batch_size = 1
+        if obs:
+            for v in obs.values():
+                if isinstance(v, torch.Tensor):
+                    batch_size = v.shape[0]
+                    break
+
+        # Add domain_id tensor
+        comp["domain_id"] = torch.tensor([int(self.domain_id)] * batch_size, dtype=torch.long)
+
+        new_transition[TransitionKey.COMPLEMENTARY_DATA] = comp
+        return new_transition
+
+    def transform_features(self, features):
+        """Domain ID addition doesn't change feature structure."""
+        return features
+
+    def get_config(self) -> dict[str, Any]:
+        """Return serializable configuration."""
+        return {
+            "domain_id": self.domain_id,
+        }
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="xvla_rotation_6d_to_axis_angle")
+class XVLARotation6DToAxisAngleProcessorStep(ProcessorStep):
+    """Convert 6D rotation representation to axis-angle and reorganize action dimensions.
+
+    This processor step takes actions with 6D rotation representation and converts them to
+    axis-angle representation, reorganizing the action dimensions as:
+    - action[:, :3] -> target_eef (end-effector position)
+    - action[:, 3:9] -> 6D rotation (converted to axis-angle, 3D)
+    - action[:, 9:10] -> gripper action
+
+    Final output: [target_eef (3), axis_angle (3), gripper (1)] = 7D action
+
+    Args:
+        expected_action_dim: Expected input action dimension (default: 10, supports 6D rotation + extras)
+    """
+
+    expected_action_dim: int = 10
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Convert 6D rotation to axis-angle in action."""
+        new_transition = transition.copy()
+        action = new_transition.get(TransitionKey.ACTION)
+
+        if action is None or not isinstance(action, torch.Tensor):
+            return new_transition
+
+        # Convert to numpy for processing
+        device = action.device
+        dtype = action.dtype
+        action_np = action.cpu().numpy()
+
+        # Extract components
+        # action shape: (B, D) where D >= 10
+        target_eef = action_np[:, :3]  # (B, 3)
+        rotation_6d = action_np[:, 3:9]  # (B, 6)
+        target_act = action_np[:, 9:10]  # (B, 1)
+
+        # Convert 6D rotation to axis-angle
+        target_axis = rotate6d_to_axis_angle(rotation_6d)  # (B, 3)
+
+        # Concatenate: [eef (3), axis_angle (3), gripper (1)] = 7D
+        action_np = np.concatenate([target_eef, target_axis, target_act], axis=-1)
+
+        # Convert gripper action to -1 or 1
+        action_np[:, -1] = np.where(action_np[:, -1] > 0.5, 1.0, -1.0)
+
+        # Convert back to tensor
+        action = torch.from_numpy(action_np).to(device=device, dtype=dtype)
+
+        new_transition[TransitionKey.ACTION] = action
+        return new_transition
+
+    def transform_features(self, features):
+        """Rotation conversion changes action dimension from 10 to 7."""
+        # Note: This is a simplified version. In practice, you might want to
+        # update the action feature shape in the features dict.
+        return features
+
+    def get_config(self) -> dict[str, Any]:
+        """Return serializable configuration."""
+        return {
+            "expected_action_dim": self.expected_action_dim,
+        }
+
+
+def make_xvla_libero_pre_post_processors() -> tuple[
+    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    PolicyProcessorPipeline[PolicyAction, PolicyAction],
+]:
+    """
+    Build the LeRobot processor pipelines for XVLA with LIBERO environment.
+    """
+    pre_processor_steps: list[ProcessorStep] = []
+    post_processor_steps: list[ProcessorStep] = []
+    pre_processor_steps.extend(
+        [LiberoProcessorStep(), XVLAImageNetNormalizeProcessorStep(), XVLAAddDomainIdProcessorStep()]
+    )
+    post_processor_steps.extend([XVLARotation6DToAxisAngleProcessorStep()])
+    return (
+        PolicyProcessorPipeline[dict[str, Any], dict[str, Any]](
+            steps=pre_processor_steps,
+        ),
+        PolicyProcessorPipeline[PolicyAction, PolicyAction](
+            steps=post_processor_steps,
+        ),
+    )

src/lerobot/policies/xvla/soft_transformer.py

@@ -0,0 +1,415 @@
+# ------------------------------------------------------------------------------
+# Copyright 2025 2toINF (https://github.com/2toINF)
+#
+# 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.
+# ------------------------------------------------------------------------------
+
+from __future__ import annotations
+
+import math
+from collections.abc import Iterable
+from functools import partial
+from typing import Final
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as functional
+
+# ------------------------------- Small utils ----------------------------------
+
+
+def _to_2tuple(x) -> tuple:
+    """Minimal replacement for timm.layers.to_2tuple."""
+    if isinstance(x, Iterable) and not isinstance(x, (str, bytes)):
+        t = tuple(x)
+        return (t[0], t[1]) if len(t) >= 2 else (t[0], t[0])
+    return (x, x)
+
+
+def _has_sdp_attention() -> bool:
+    """Check if we can use PyTorch fused scaled_dot_product_attention."""
+    return hasattr(functional, "scaled_dot_product_attention")
+
+
+# ---------------------------------- MLP --------------------------------------
+
+
+class Mlp(nn.Module):
+    """
+    MLP used in ViT-style blocks.
+
+    Supports Linear or 1x1 Conv 'linear_layer' for token/channel mixing.
+    """
+
+    def __init__(
+        self,
+        in_features: int,
+        hidden_features: int | None = None,
+        out_features: int | None = None,
+        norm_layer: type[nn.Module] | None = None,
+        bias: bool | tuple[bool, bool] = True,
+        drop: float | tuple[float, float] = 0.0,
+        use_conv: bool = False,
+    ) -> None:
+        super().__init__()
+        out_features = out_features or in_features
+        hidden_features = hidden_features or in_features
+        bias = _to_2tuple(bias)
+        drop_probs = _to_2tuple(drop)
+        linear_layer = partial(nn.Conv2d, kernel_size=1) if use_conv else nn.Linear
+
+        self.fc1 = linear_layer(in_features, hidden_features, bias=bias[0])
+        self.act = nn.GELU(approximate="tanh")
+        self.drop1 = nn.Dropout(drop_probs[0])
+        self.norm = norm_layer(hidden_features) if norm_layer is not None else nn.Identity()
+        self.fc2 = linear_layer(hidden_features, out_features, bias=bias[1])
+        self.drop2 = nn.Dropout(drop_probs[1])
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        # Expect [B, T, C] for Linear variant; caller is responsible for shapes.
+        x = self.fc1(x)
+        x = self.act(x)
+        x = self.drop1(x)
+        x = self.norm(x)
+        x = self.fc2(x)
+        x = self.drop2(x)
+        return x
+
+
+# -------------------------------- Attention ----------------------------------
+
+
+class Attention(nn.Module):
+    """
+    Multi-Head Self-Attention with optional fused SDPA fallback.
+
+    If PyTorch provides `scaled_dot_product_attention`, it will be used
+    (usually faster and more stable); otherwise we use a manual implementation.
+    """
+
+    fused_attn: Final[bool]
+
+    def __init__(
+        self,
+        dim: int,
+        num_heads: int = 8,
+        qkv_bias: bool = False,
+        qk_norm: bool = False,
+        attn_drop: float = 0.0,
+        proj_drop: float = 0.0,
+        norm_layer: type[nn.Module] = nn.LayerNorm,
+    ) -> None:
+        super().__init__()
+        assert dim % num_heads == 0, "dim should be divisible by num_heads"
+        self.num_heads = num_heads
+        self.head_dim = dim // num_heads
+        self.scale = self.head_dim**-0.5
+        self.fused_attn = _has_sdp_attention()
+
+        self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias)
+        self.q_norm = norm_layer(self.head_dim) if qk_norm else nn.Identity()
+        self.k_norm = norm_layer(self.head_dim) if qk_norm else nn.Identity()
+        self.attn_drop = nn.Dropout(attn_drop)
+        self.proj = nn.Linear(dim, dim)
+        self.proj_drop = nn.Dropout(proj_drop)
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        """
+        Parameters
+        ----------
+        x : Tensor, shape [batch_size, seq_len, channels]
+            Input sequence.
+
+        Returns
+        -------
+        Tensor, shape [batch_size, seq_len, channels]
+            Output sequence after MHSA + projection.
+        """
+        batch_size, seq_len, channels = x.shape
+        qkv = (
+            self.qkv(x)
+            .reshape(batch_size, seq_len, 3, self.num_heads, self.head_dim)
+            .permute(2, 0, 3, 1, 4)  # 3 x [batch_size, num_heads, seq_len, head_dim]
+        )
+        q, k, v = qkv.unbind(0)  # each: [batch_size, num_heads, seq_len, head_dim]
+        q, k = self.q_norm(q), self.k_norm(k)
+
+        if self.fused_attn:
+            x = functional.scaled_dot_product_attention(
+                q,
+                k,
+                v,
+                dropout_p=self.attn_drop.p if self.training else 0.0,
+            )  # [batch_size, num_heads, seq_len, head_dim]
+        else:
+            q = q * self.scale
+            attn = q @ k.transpose(-2, -1)  # [batch_size, num_heads, seq_len, seq_len]
+            attn = attn.softmax(dim=-1)
+            attn = self.attn_drop(attn)
+            x = attn @ v  # [batch_size, num_heads, seq_len, head_dim]
+
+        x = x.transpose(1, 2).reshape(batch_size, seq_len, channels)  # [batch_size, seq_len, channels]
+        x = self.proj(x)
+        x = self.proj_drop(x)
+        return x
+
+
+# ------------------------------- Utilities -----------------------------------
+
+
+def basic_init(module: nn.Module) -> None:
+    """
+    Apply a basic initialization scheme to Linear layers.
+
+    - Weight: Xavier uniform initialization.
+    - Bias: Set to zero.
+    """
+    if isinstance(module, nn.Linear):
+        nn.init.xavier_uniform_(module.weight)
+        if module.bias is not None:
+            nn.init.constant_(module.bias, 0.0)
+
+
+def timestep_embedding(t: torch.Tensor, dim: int, max_period: int = 100) -> torch.Tensor:
+    """
+    Create sinusoidal timestep embeddings.
+
+    Parameters
+    ----------
+    t : torch.Tensor
+        Shape [B]. Each element is a timestep index, may be fractional.
+    dim : int
+        Dimensionality of the output embedding.
+    max_period : int, default=100
+        Controls the minimum frequency of the sinusoids.
+
+    Returns
+    -------
+    torch.Tensor
+        Shape [B, dim]. Sinusoidal embeddings.
+    """
+    half = dim // 2
+    freqs = torch.exp(
+        -math.log(max_period) * torch.arange(start=0, end=half, dtype=t.dtype, device=t.device) / half
+    )
+    args = t[:, None] * freqs[None]
+    embedding = torch.cat([torch.cos(args), torch.sin(args)], dim=-1)
+    if dim % 2 == 1:
+        embedding = torch.cat([embedding, torch.zeros_like(embedding[:, :1])], dim=-1)
+    return embedding
+
+
+# ------------------------------- Core Layers ----------------------------------
+
+
+class DomainAwareLinear(nn.Module):
+    """
+    Linear layer with domain-conditioned parameters (per-sample).
+
+    Each domain has its own weight and bias vectors, stored in embeddings.
+    """
+
+    def __init__(self, input_size: int, output_size: int, num_domains: int = 20) -> None:
+        super().__init__()
+        self.input_size = input_size
+        self.output_size = output_size
+        self.fc = nn.Embedding(num_domains, output_size * input_size)
+        self.bias = nn.Embedding(num_domains, output_size)
+        nn.init.xavier_uniform_(self.fc.weight)
+        nn.init.zeros_(self.bias.weight)
+
+    def forward(self, x: torch.Tensor, domain_id: torch.LongTensor) -> torch.Tensor:
+        """
+        Parameters
+        ----------
+        x : Tensor
+            [B, I] or [B, T, I]
+        domain_id : LongTensor
+            [B], domain indices.
+
+        Returns
+        -------
+        Tensor
+            [batch_size, output_size] or [batch_size, seq_len, output_size]
+        """
+        batch_size = domain_id.shape[0]
+        squeeze_seq = False
+        if x.dim() == 2:
+            x = x.unsqueeze(1)
+            squeeze_seq = True
+        weight = self.fc(domain_id).view(batch_size, self.input_size, self.output_size)
+        bias = self.bias(domain_id).view(batch_size, self.output_size)
+        y = torch.matmul(x, weight) + bias.view(batch_size, 1, self.output_size)
+        if squeeze_seq:
+            y = y.squeeze(1)
+        return y
+
+
+class TransformerBlock(nn.Module):
+    """
+    Standard Transformer block (pre-LN): LN → MHSA → residual, LN → MLP → residual.
+    """
+
+    def __init__(self, hidden_size: int, num_heads: int, mlp_ratio: float = 4.0) -> None:
+        super().__init__()
+        self.norm1 = nn.LayerNorm(hidden_size)
+        self.norm2 = nn.LayerNorm(hidden_size)
+        self.attn = Attention(hidden_size, num_heads=num_heads, qkv_bias=True, attn_drop=0.1)
+        self.mlp = Mlp(
+            in_features=hidden_size,
+            hidden_features=int(hidden_size * mlp_ratio),
+            drop=0.1,
+        )
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        """
+        Parameters
+        ----------
+        x : Tensor, [B, T, H]
+
+        Returns
+        -------
+        Tensor, [B, T, H]
+        """
+        x = x + self.attn(self.norm1(x))
+        x = x + self.mlp(self.norm2(x))
+        return x
+
+
+# --------------------------- Main Model ---------------------------------------
+
+
+class SoftPromptedTransformer(nn.Module):
+    """
+    Multi-modal, domain-aware Transformer with optional soft prompts.
+
+    See parameter and forward I/O descriptions inside the docstrings.
+    """
+
+    def __init__(
+        self,
+        hidden_size: int = 768,
+        multi_modal_input_size: int = 768,
+        depth: int = 24,
+        num_heads: int = 16,
+        mlp_ratio: float = 4.0,
+        num_domains: int = 20,
+        dim_action: int = 20,
+        dim_propio: int = 20,
+        dim_time: int = 32,
+        len_soft_prompts: int = 32,
+        max_len_seq: int = 512,
+        use_hetero_proj: bool = False,
+    ) -> None:
+        super().__init__()
+        self.hidden_size = hidden_size
+        self.dim_action = dim_action
+        self.dim_time = dim_time
+        self.len_soft_prompts = len_soft_prompts
+        self.use_hetero_proj = use_hetero_proj
+
+        self.blocks = nn.ModuleList(
+            [TransformerBlock(hidden_size, num_heads, mlp_ratio=mlp_ratio) for _ in range(depth)]
+        )
+
+        if use_hetero_proj:
+            self.vlm_proj = DomainAwareLinear(multi_modal_input_size, hidden_size, num_domains=num_domains)
+            self.aux_visual_proj = DomainAwareLinear(
+                multi_modal_input_size, hidden_size, num_domains=num_domains
+            )
+        else:
+            self.vlm_proj = nn.Linear(multi_modal_input_size, hidden_size)
+            self.aux_visual_proj = nn.Linear(multi_modal_input_size, hidden_size)
+
+        self.pos_emb = nn.Parameter(torch.zeros(1, max_len_seq, hidden_size), requires_grad=True)
+        nn.init.normal_(self.pos_emb, std=0.02)
+
+        self.norm = nn.LayerNorm(hidden_size)
+        self.action_encoder = DomainAwareLinear(
+            dim_action + dim_time + dim_propio, hidden_size, num_domains=num_domains
+        )
+        self.action_decoder = DomainAwareLinear(hidden_size, dim_action, num_domains=num_domains)
+
+        if len_soft_prompts > 0:
+            self.soft_prompt_hub = nn.Embedding(num_domains, len_soft_prompts * hidden_size)
+            nn.init.normal_(self.soft_prompt_hub.weight, std=0.02)
+
+        self.apply(basic_init)
+
+    def forward(
+        self,
+        domain_id: torch.LongTensor,
+        vlm_features: torch.Tensor,
+        aux_visual_inputs: torch.Tensor,
+        action_with_noise: torch.Tensor,
+        proprio: torch.Tensor,
+        t: torch.Tensor,
+    ) -> torch.Tensor:
+        """
+        Forward pass.
+
+        Inputs
+        ------
+        domain_id : [B]
+        vlm_features : [B, T_vlm, D]
+        aux_visual_inputs : [B, T_aux, D]
+        action_with_noise : [B, T_action, dim_action]
+        proprio : [B, dim_propio]
+        t : [B]
+
+        Returns
+        -------
+        Tensor
+            Predicted actions, [batch_size, num_actions, dim_action]
+        """
+        batch_size, num_actions = action_with_noise.shape[:2]
+
+        # Encode (action + proprio + time) → tokens
+        time_emb = timestep_embedding(t, self.dim_time)  # [batch_size, dim_time]
+        time_tokens = time_emb.unsqueeze(1).expand(batch_size, num_actions, self.dim_time)
+        proprio_tokens = proprio.unsqueeze(1).expand(batch_size, num_actions, proprio.shape[-1])
+        action_tokens = torch.cat([action_with_noise, proprio_tokens, time_tokens], dim=-1)
+        x = self.action_encoder(action_tokens, domain_id)  # [batch_size, num_actions, hidden_size]
+
+        # Project visual streams and concatenate
+        if self.use_hetero_proj:
+            x = torch.cat(
+                [
+                    x,
+                    self.vlm_proj(vlm_features, domain_id),
+                    self.aux_visual_proj(aux_visual_inputs, domain_id),
+                ],
+                dim=1,
+            )
+        else:
+            x = torch.cat([x, self.vlm_proj(vlm_features), self.aux_visual_proj(aux_visual_inputs)], dim=1)
+
+        # Add positional embeddings (truncate if needed)
+        seq_len = x.shape[1]
+        if seq_len > self.pos_emb.shape[1]:
+            raise ValueError(f"Sequence length {seq_len} exceeds max_len_seq={self.pos_emb.shape[1]}.")
+        x = x + self.pos_emb[:, :seq_len, :]
+
+        # Append soft prompts
+        if self.len_soft_prompts > 0:
+            soft_prompts = self.soft_prompt_hub(domain_id).view(
+                batch_size, self.len_soft_prompts, self.hidden_size
+            )
+            x = torch.cat([x, soft_prompts], dim=1)
+
+        # Transformer backbone
+        for block in self.blocks:
+            x = block(x)
+
+        # Decode only the action segment
+        return self.action_decoder(self.norm(x[:, :num_actions]), domain_id)

src/lerobot/policies/xvla/utils.py

@@ -0,0 +1,138 @@
+import math
+
+import numpy as np
+
+
+def mat2quat(rmat):
+    """
+    Converts given rotation matrix to quaternion.
+
+    Args:
+        rmat (np.array): 3x3 rotation matrix
+
+    Returns:
+        np.array: (x,y,z,w) float quaternion angles
+    """
+    mat = np.asarray(rmat).astype(np.float32)[:3, :3]
+
+    m00 = mat[0, 0]
+    m01 = mat[0, 1]
+    m02 = mat[0, 2]
+    m10 = mat[1, 0]
+    m11 = mat[1, 1]
+    m12 = mat[1, 2]
+    m20 = mat[2, 0]
+    m21 = mat[2, 1]
+    m22 = mat[2, 2]
+    # symmetric matrix k
+    k = np.array(
+        [
+            [m00 - m11 - m22, np.float32(0.0), np.float32(0.0), np.float32(0.0)],
+            [m01 + m10, m11 - m00 - m22, np.float32(0.0), np.float32(0.0)],
+            [m02 + m20, m12 + m21, m22 - m00 - m11, np.float32(0.0)],
+            [m21 - m12, m02 - m20, m10 - m01, m00 + m11 + m22],
+        ]
+    )
+    k /= 3.0
+    # quaternion is Eigen vector of k that corresponds to largest eigenvalue
+    w, v = np.linalg.eigh(k)
+    inds = np.array([3, 0, 1, 2])
+    q1 = v[inds, np.argmax(w)]
+    if q1[0] < 0.0:
+        np.negative(q1, q1)
+    inds = np.array([1, 2, 3, 0])
+    return q1[inds]
+
+
+def quat2axisangle(quat):
+    """
+    Converts quaternion to axis-angle format.
+    Returns a unit vector direction scaled by its angle in radians.
+
+    Args:
+        quat (np.array): (x,y,z,w) vec4 float angles
+
+    Returns:
+        np.array: (ax,ay,az) axis-angle exponential coordinates
+    """
+    # clip quaternion
+    if quat[3] > 1.0:
+        quat[3] = 1.0
+    elif quat[3] < -1.0:
+        quat[3] = -1.0
+
+    den = np.sqrt(1.0 - quat[3] * quat[3])
+    if math.isclose(den, 0.0):
+        # This is (close to) a zero degree rotation, immediately return
+        return np.zeros(3)
+
+    return (quat[:3] * 2.0 * math.acos(quat[3])) / den
+
+
+def rotate6d_to_axis_angle(r6d):
+    """
+    r6d: np.ndarray, shape (N, 6)
+    return: np.ndarray, shape (N, 3), axis-angle vectors
+    """
+    flag = 0
+    if len(r6d.shape) == 1:
+        r6d = r6d[None, ...]
+        flag = 1
+
+    a1 = r6d[:, 0:3]
+    a2 = r6d[:, 3:6]
+
+    # b1
+    b1 = a1 / (np.linalg.norm(a1, axis=-1, keepdims=True) + 1e-6)
+
+    # b2
+    dot_prod = np.sum(b1 * a2, axis=-1, keepdims=True)
+    b2_orth = a2 - dot_prod * b1
+    b2 = b2_orth / (np.linalg.norm(b2_orth, axis=-1, keepdims=True) + 1e-6)
+
+    # b3
+    b3 = np.cross(b1, b2, axis=-1)
+
+    rotation_matrix = np.stack([b1, b2, b3], axis=-1)  # shape: (N, 3, 3)
+
+    axis_angle_list = []
+    for i in range(rotation_matrix.shape[0]):
+        quat = mat2quat(rotation_matrix[i])
+        axis_angle = quat2axisangle(quat)
+        axis_angle_list.append(axis_angle)
+
+    axis_angle_array = np.stack(axis_angle_list, axis=0)  # shape: (N, 3)
+
+    if flag == 1:
+        axis_angle_array = axis_angle_array[0]
+
+    return axis_angle_array
+
+
+def mat_to_rotate6d(abs_action):
+    if len(abs_action.shape) == 2:
+        return np.concatenate([abs_action[:3, 0], abs_action[:3, 1]], axis=-1)
+    elif len(abs_action.shape) == 3:
+        return np.concatenate([abs_action[:, :3, 0], abs_action[:, :3, 1]], axis=-1)
+    else:
+        raise NotImplementedError
+
+
+def drop_path(x, drop_prob: float = 0.0, training: bool = False, scale_by_keep: bool = True):
+    """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).
+
+    This is the same as the DropConnect impl I created for EfficientNet, etc networks, however,
+    the original name is misleading as 'Drop Connect' is a different form of dropout in a separate paper...
+    See discussion: https://github.com/tensorflow/tpu/issues/494#issuecomment-532968956 ... I've opted for
+    changing the layer and argument names to 'drop path' rather than mix DropConnect as a layer name and use
+    'survival rate' as the argument.
+
+    """
+    if drop_prob == 0.0 or not training:
+        return x
+    keep_prob = 1 - drop_prob
+    shape = (x.shape[0],) + (1,) * (x.ndim - 1)  # work with diff dim tensors, not just 2D ConvNets
+    random_tensor = x.new_empty(shape).bernoulli_(keep_prob)
+    if keep_prob > 0.0 and scale_by_keep:
+        random_tensor.div_(keep_prob)
+    return x * random_tensor

src/lerobot/scripts/lerobot_eval.py

@@ -533,7 +533,7 @@ def eval_main(cfg: EvalPipelineConfig):
     )
 
     # Create environment-specific preprocessor and postprocessor (e.g., for LIBERO environments)
-    env_preprocessor, env_postprocessor = make_env_pre_post_processors(env_cfg=cfg.env)
+    env_preprocessor, env_postprocessor = make_env_pre_post_processors(env_cfg=cfg.env, policy_cfg=cfg.policy)
 
     with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext():
         info = eval_policy_all(

src/lerobot/scripts/lerobot_train.py

@@ -260,7 +260,9 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
         if cfg.env is not None:
             logging.info(f"{cfg.env.task=}")
             logging.info("Creating environment processors")
-            env_preprocessor, env_postprocessor = make_env_pre_post_processors(env_cfg=cfg.env)
+            env_preprocessor, env_postprocessor = make_env_pre_post_processors(
+                env_cfg=cfg.env, policy_cfg=cfg.policy
+            )
         logging.info(f"{cfg.steps=} ({format_big_number(cfg.steps)})")
         logging.info(f"{dataset.num_frames=} ({format_big_number(dataset.num_frames)})")
         logging.info(f"{dataset.num_episodes=}")

tests/policies/xvla/test_xvla_original_vs_lerobot.py

@@ -0,0 +1,361 @@
+#!/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.
+
+"""Test script to verify XVLA policy integration with LeRobot vs the original implementation, only meant to be run locally!"""
+# ruff: noqa: E402
+
+import gc
+import random
+from copy import deepcopy
+from typing import Any
+
+import numpy as np
+import pytest
+import torch
+
+pytest.importorskip("transformers")
+
+from lerobot.policies.xvla.configuration_xvla import XVLAConfig
+from lerobot.policies.xvla.modeling_xvla import XVLAPolicy
+from lerobot.policies.xvla.processor_xvla import make_xvla_pre_post_processors
+from lerobot.processor import PolicyAction, PolicyProcessorPipeline  # noqa: E402
+from lerobot.utils.constants import OBS_IMAGES, OBS_STATE  # noqa: E402
+from tests.utils import require_cuda  # noqa: E402
+
+# Constants
+DUMMY_ACTION_DIM = 7  # Standard robot arm action dimension
+DUMMY_STATE_DIM = 20  # Proprioceptive state dimension
+IMAGE_HEIGHT = 224
+IMAGE_WIDTH = 224
+NUM_VIEWS = 2  # Number of camera views
+DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
+MODEL_PATH_LEROBOT = "lerobot/xvla-widowx"
+LIBERO_DOMAIN_ID = 0  # Domain ID for examples purposes
+
+# Expected values from original XVLA implementation (reference values)
+EXPECTED_ACTIONS_SHAPE = (30, 20)
+EXPECTED_ACTIONS_MEAN = 0.117606
+EXPECTED_ACTIONS_STD = 0.245411
+EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.2742, 0.4977, 0.0500, 0.7040, -0.2653])
+
+
+def cleanup_memory():
+    """Clean up GPU/MPS memory to prevent OOM errors between tests."""
+    print("\nCleaning up memory...")
+    gc.collect()
+    if torch.cuda.is_available():
+        torch.cuda.empty_cache()
+        torch.cuda.synchronize()
+    if torch.backends.mps.is_available():
+        torch.mps.empty_cache()
+    print("Memory cleanup complete.")
+
+
+def set_seed_all(seed: int):
+    """Set random seed for all RNG sources to ensure reproducibility."""
+    random.seed(seed)
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+
+    if torch.cuda.is_available():
+        torch.cuda.manual_seed(seed)
+        torch.cuda.manual_seed_all(seed)
+
+    # Set deterministic behavior
+    torch.backends.cudnn.deterministic = True
+    torch.backends.cudnn.benchmark = False
+    torch.use_deterministic_algorithms(True, warn_only=True)
+
+
+def instantiate_lerobot_xvla(
+    from_pretrained: bool = False,
+    model_path: str = MODEL_PATH_LEROBOT,
+) -> tuple[
+    Any,  # Policy
+    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    PolicyProcessorPipeline[PolicyAction, PolicyAction],
+]:
+    """Instantiate LeRobot XVLA policy with preprocessor and postprocessor."""
+    if from_pretrained:
+        policy = XVLAPolicy.from_pretrained(
+            pretrained_name_or_path=model_path,
+            strict=False,
+        )
+    else:
+        config = XVLAConfig(
+            base_model_path=model_path,
+            n_action_steps=DUMMY_ACTION_DIM,
+            chunk_size=DUMMY_ACTION_DIM,
+            device=DEVICE,
+            num_image_views=NUM_VIEWS,
+        )  # add resize_imgs_with_padding=IMAGE_SIZE, IMAGE_SIZE?
+        policy = XVLAPolicy(config)
+
+    policy.to(DEVICE)
+    policy.config.device = DEVICE
+    preprocessor, postprocessor = make_xvla_pre_post_processors(
+        config=policy.config,
+        dataset_stats=None,  # Pass None for dataset_stats to disable normalization (original XVLA doesn't normalize)
+    )
+
+    return policy, preprocessor, postprocessor
+
+
+def create_dummy_data(device=DEVICE):
+    """Create dummy data for testing both implementations."""
+    batch_size = 1
+    prompt = "Pick up the red block and place it in the bin"
+
+    # Create random RGB images in [0, 255] uint8 range (as PIL images would be)
+    # Then convert to [0, 1] float32 range for LeRobot
+    def fake_rgb(h, w):
+        arr = np.random.randint(0, 255, (h, w, 3), dtype=np.uint8)
+        t = torch.from_numpy(arr).permute(2, 0, 1)  # CHW
+        return t
+
+    batch = {
+        f"{OBS_IMAGES}.image": torch.stack(
+            [fake_rgb(IMAGE_HEIGHT, IMAGE_WIDTH) for _ in range(batch_size)]
+        ).to(device),
+        f"{OBS_IMAGES}.image2": torch.stack(
+            [fake_rgb(IMAGE_HEIGHT, IMAGE_WIDTH) for _ in range(batch_size)]
+        ).to(device),
+        OBS_STATE: torch.randn(batch_size, DUMMY_STATE_DIM, dtype=torch.float32, device=device),
+        "task": [prompt for _ in range(batch_size)],
+    }
+
+    return batch
+
+
+# Pytest fixtures
+@pytest.fixture(scope="module")
+def xvla_components():
+    """Fixture to instantiate and provide all XVLA components for tests."""
+    print(f"\nTesting with DEVICE='{DEVICE}'")
+    print("\n[Setup] Instantiating LeRobot XVLA policy...")
+    policy_obj, preprocessor_obj, postprocessor_obj = instantiate_lerobot_xvla(from_pretrained=True)
+    print("✔️ Model loaded successfully")
+    yield policy_obj, preprocessor_obj, postprocessor_obj
+    cleanup_memory()
+
+
+@pytest.fixture(scope="module")
+def policy(xvla_components):
+    """Fixture to provide the XVLA policy for tests."""
+    return xvla_components[0]
+
+
+@pytest.fixture(scope="module")
+def preprocessor(xvla_components):
+    """Fixture to provide the XVLA preprocessor for tests."""
+    return xvla_components[1]
+
+
+@require_cuda
+def test_xvla_preprocessor_alignment(policy, preprocessor):
+    """Test that LeRobot XVLA preprocessor produces expected outputs."""
+    print("\n" + "=" * 80)
+    print("Test: XVLA Preprocessor Outputs")
+    print("=" * 80)
+
+    set_seed_all(42)
+
+    print("\nCreating dummy data...")
+    batch = create_dummy_data()
+
+    print("\n[LeRobot] Preprocessing...")
+    lerobot_observation = preprocessor(deepcopy(batch))
+    lerobot_inputs = policy._build_model_inputs(lerobot_observation)
+
+    print("\nVerifying preprocessor outputs:")
+    print("-" * 80)
+
+    # Expected shapes from tester.txt
+    expected_shapes = {
+        "domain_id": (1,),
+        "input_ids": (1, 50),
+        "proprio": (1, 20),
+        "image_mask": (1, 2),
+        "image_input": (1, 2, 3, 224, 224),
+    }
+
+    for key, expected_shape in expected_shapes.items():
+        if key in lerobot_inputs:
+            actual_shape = tuple(lerobot_inputs[key].shape)
+            print(f"\nKey: {key}")
+            print(f"Expected shape: {expected_shape}")
+            print(f"Actual shape: {actual_shape}")
+
+            if actual_shape == expected_shape:
+                print("Shape matches!")
+            else:
+                print("Shape mismatch!")
+
+            assert actual_shape == expected_shape, f"Shape mismatch for {key}"
+        else:
+            print(f"\nKey '{key}' not found in inputs!")
+
+    print("\nAll preprocessor outputs have correct shapes!")
+
+
+@require_cuda
+def test_xvla_action_generation(policy, preprocessor):
+    """Test XVLA LeRobot implementation generates expected actions."""
+    print("\n" + "=" * 80)
+    print("Test: XVLA Action Generation Against Expected Values")
+    print("=" * 80)
+
+    set_seed_all(42)
+
+    print("\nCreating dummy data...")
+    batch = create_dummy_data()
+
+    print("\n[LeRobot] Running inference...")
+    lerobot_observation = preprocessor(deepcopy(batch))
+    lerobot_inputs = policy._build_model_inputs(lerobot_observation)
+
+    # Reset seed for inference
+    torch.manual_seed(42)
+    with torch.no_grad():
+        lerobot_actions = policy.model.generate_actions(**lerobot_inputs, steps=10)
+        lerobot_actions = lerobot_actions.squeeze(0).float().cpu()
+
+    print(f"LeRobot actions shape: {lerobot_actions.shape}")
+    print(f"LeRobot actions mean: {lerobot_actions.mean().item():.6f}")
+    print(f"LeRobot actions std: {lerobot_actions.std().item():.6f}")
+    print(f"LeRobot actions first 5: {lerobot_actions[0, :5]}")
+
+    print("\nExpected values (from original XVLA):")
+    print(f"Expected actions shape: {EXPECTED_ACTIONS_SHAPE}")
+    print(f"Expected actions mean: {EXPECTED_ACTIONS_MEAN:.6f}")
+    print(f"Expected actions std: {EXPECTED_ACTIONS_STD:.6f}")
+    print(f"Expected actions first 5: {EXPECTED_ACTIONS_FIRST_5}")
+
+    print("\nAction Comparison:")
+    print("-" * 80)
+
+    # Compare shapes
+    actual_shape = tuple(lerobot_actions.shape)
+    assert actual_shape == EXPECTED_ACTIONS_SHAPE, (
+        f"Shape mismatch: {actual_shape} vs {EXPECTED_ACTIONS_SHAPE}"
+    )
+    print(f"✔️ Shape matches: {actual_shape}")
+
+    # Compare statistics
+    actual_mean = lerobot_actions.mean().item()
+    actual_std = lerobot_actions.std().item()
+
+    mean_diff = abs(actual_mean - EXPECTED_ACTIONS_MEAN)
+    std_diff = abs(actual_std - EXPECTED_ACTIONS_STD)
+
+    print(f"\nMean: {actual_mean:.6f} (expected: {EXPECTED_ACTIONS_MEAN:.6f}, diff: {mean_diff:.6e})")
+    print(f"Std: {actual_std:.6f} (expected: {EXPECTED_ACTIONS_STD:.6f}, diff: {std_diff:.6e})")
+
+    # Compare first 5 actions
+    actual_first_5 = lerobot_actions[0, :5]
+    first_5_diff = torch.abs(actual_first_5 - EXPECTED_ACTIONS_FIRST_5)
+
+    print("\nFirst 5 actions comparison:")
+    print(f"  Actual:   {actual_first_5}")
+    print(f"  Expected: {EXPECTED_ACTIONS_FIRST_5}")
+    print(f"  Max diff: {first_5_diff.max().item():.6e}")
+    print(f"  Mean diff: {first_5_diff.mean().item():.6e}")
+
+    # Check with different tolerances
+    tolerances = [1e-5, 1e-4, 1e-3, 1e-2]
+    for tol in tolerances:
+        is_close = torch.allclose(actual_first_5, EXPECTED_ACTIONS_FIRST_5, atol=tol)
+        status = "Success" if is_close else "Failure"
+        print(f"{status}: First 5 actions close (atol={tol}): {is_close}")
+
+    # Assert with reasonable tolerance
+    tolerance = 1e-3
+    assert torch.allclose(actual_first_5, EXPECTED_ACTIONS_FIRST_5, atol=tolerance), (
+        f"First 5 actions differ by more than tolerance ({tolerance})"
+    )
+    print(f"\nSuccess: Actions match expected values within tolerance ({tolerance})!")
+
+
+@require_cuda
+def test_xvla_inference_reproducibility(policy, preprocessor):
+    """Test that XVLA inference is reproducible with the same seed."""
+    print("\n" + "=" * 80)
+    print("Test: XVLA Inference Reproducibility")
+    print("=" * 80)
+
+    print("\nCreating dummy data...")
+    batch = create_dummy_data()
+
+    # First inference
+    print("\n[Run 1] Running inference...")
+    set_seed_all(42)
+    lerobot_observation = preprocessor(deepcopy(batch))
+    lerobot_inputs = policy._build_model_inputs(lerobot_observation)
+    with torch.no_grad():
+        actions_1 = policy.model.generate_actions(**lerobot_inputs, steps=10)
+        actions_1 = actions_1.squeeze(0).float().cpu()
+
+    # Second inference with same seed
+    print("\n[Run 2] Running inference with same seed...")
+    set_seed_all(42)
+    lerobot_observation = preprocessor(deepcopy(batch))
+    lerobot_inputs = policy._build_model_inputs(lerobot_observation)
+    with torch.no_grad():
+        actions_2 = policy.model.generate_actions(**lerobot_inputs, steps=10)
+        actions_2 = actions_2.squeeze(0).float().cpu()
+
+    print("\nComparing two runs:")
+    print("-" * 80)
+    if torch.allclose(actions_1, actions_2, atol=1e-8):
+        print("Inference is perfectly reproducible!")
+    else:
+        diff = torch.abs(actions_1 - actions_2)
+        print("Small differences detected:")
+        print(f"  Max diff: {diff.max().item():.6e}")
+        print(f"  Mean diff: {diff.mean().item():.6e}")
+
+    assert torch.allclose(actions_1, actions_2, atol=1e-6), "Inference should be reproducible!"
+
+    print("\nInference is reproducible!")
+
+
+if __name__ == "__main__":
+    print("\n" + "=" * 80)
+    print("XVLA LeRobot Validation Test Suite")
+    print("=" * 80)
+
+    try:
+        # Initialize model once for all tests
+        print("\n[Setup] Instantiating LeRobot XVLA policy...")
+        policy, preprocessor, postprocessor = instantiate_lerobot_xvla(from_pretrained=True)
+        print("✔️ Model loaded successfully")
+
+        # Run all tests with the same model instance
+        test_xvla_preprocessor_alignment(policy, preprocessor)
+        test_xvla_action_generation(policy, preprocessor)
+        test_xvla_inference_reproducibility(policy, preprocessor)
+
+        print("\n" + "=" * 80)
+        print("All tests passed!")
+        print("=" * 80)
+
+        cleanup_memory()
+    except Exception as e:
+        print("\n" + "=" * 80)
+        print(f"Test failed with error: {e}")
+        print("=" * 80)
+        cleanup_memory()
+        raise