Pepijn c661d81409 fix(smolvla2): use RobotConfig.max_relative_target, drop --max_action_norm ...

The hand-rolled action-norm safety clip duplicated what every
``RobotConfig`` already exposes — ``max_relative_target`` — and at
the wrong layer (after postprocess but before send_action, instead
of inside the robot driver where every other lerobot entry point
puts it). The norm clip also rejected entire actions instead of
clipping per-motor relative motion, so a single rogue joint would
kill the whole tick.

Replace with ``--robot.max_relative_target``: a string parsed as
either a bare float (uniform per-motor cap) or a JSON object
mapping motor name → cap. Passed through to
``RobotConfig(max_relative_target=...)`` at robot construction;
the driver's ``send_action`` clips each commanded joint position
relative to the current measured one before issuing it on the bus —
same behaviour ``lerobot-record`` ships.

Also bump ``--chunk_hz`` default from ``4.0`` to ``1.0``. One new
chunk per second is what the trained checkpoint can comfortably
keep up with on common hardware and gives smoother motion than
sub-second chunk regenerations (no RTC interpolation between
chunks yet).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-05-12 11:41:57 +02:00

..

lerobot

fix(smolvla2): use RobotConfig.max_relative_target, drop --max_action_norm

2026-05-12 11:41:57 +02:00