From 472b84a66773352ec55ec7d86f703d662f0f7de9 Mon Sep 17 00:00:00 2001 From: Yushun Xiang Date: Wed, 24 Dec 2025 17:42:51 +0000 Subject: [PATCH 1/4] add **kwargs for wall_x init function --- src/lerobot/policies/wall_x/modeling_wall_x.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/policies/wall_x/modeling_wall_x.py b/src/lerobot/policies/wall_x/modeling_wall_x.py index c401c8d601..ef227cee5b 100644 --- a/src/lerobot/policies/wall_x/modeling_wall_x.py +++ b/src/lerobot/policies/wall_x/modeling_wall_x.py @@ -1697,8 +1697,8 @@ class WallXPolicy(PreTrainedPolicy): config_class = WallXConfig name = "wall_x" - def __init__(self, config: WallXConfig): - super().__init__(config) + def __init__(self, config: WallXConfig, **kwargs): + super().__init__(config, **kwargs) config.validate_features() self.config = config From 8f1f22e3cc7596540a21181a5a772eb7e4865a54 Mon Sep 17 00:00:00 2001 From: Yushun Xiang <73413365+YushunXiang@users.noreply.github.com> Date: Thu, 25 Dec 2025 14:37:07 +0800 Subject: [PATCH 2/4] Update src/lerobot/policies/wall_x/modeling_wall_x.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Yushun Xiang <73413365+YushunXiang@users.noreply.github.com> --- src/lerobot/policies/wall_x/modeling_wall_x.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lerobot/policies/wall_x/modeling_wall_x.py b/src/lerobot/policies/wall_x/modeling_wall_x.py index ef227cee5b..94ee7897e5 100644 --- a/src/lerobot/policies/wall_x/modeling_wall_x.py +++ b/src/lerobot/policies/wall_x/modeling_wall_x.py @@ -1698,7 +1698,7 @@ class WallXPolicy(PreTrainedPolicy): name = "wall_x" def __init__(self, config: WallXConfig, **kwargs): - super().__init__(config, **kwargs) + super().__init__(config) config.validate_features() self.config = config From df531f3c89b9b770a2e5957302651f86e8a31e51 Mon Sep 17 00:00:00 2001 From: Yushun Xiang Date: Mon, 5 Jan 2026 13:11:04 +0000 Subject: [PATCH 3/4] fix the import error in src/lerobot/policies/wall_x/__init__.py --- src/lerobot/policies/wall_x/__init__.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lerobot/policies/wall_x/__init__.py b/src/lerobot/policies/wall_x/__init__.py index d80c27bda8..16fd2c8ab8 100644 --- a/src/lerobot/policies/wall_x/__init__.py +++ b/src/lerobot/policies/wall_x/__init__.py @@ -15,5 +15,7 @@ # limitations under the License. from .configuration_wall_x import WallXConfig +from .modeling_wall_x import WallXPolicy +from .processor_wall_x import make_wall_x_pre_post_processors __all__ = ["WallXConfig", "WallXPolicy", "make_wall_x_pre_post_processors"] From dfdb80c00ee29dcf7408aa2e82a11ef17238ee2c Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Tue, 24 Feb 2026 15:23:54 +0100 Subject: [PATCH 4/4] fix(policies): lazy import peft --- src/lerobot/policies/wall_x/modeling_wall_x.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/lerobot/policies/wall_x/modeling_wall_x.py b/src/lerobot/policies/wall_x/modeling_wall_x.py index ef99bad89d..c4fdabff75 100644 --- a/src/lerobot/policies/wall_x/modeling_wall_x.py +++ b/src/lerobot/policies/wall_x/modeling_wall_x.py @@ -43,7 +43,6 @@ import torch import torch.nn as nn import torch.nn.functional as F -from peft import LoraConfig, get_peft_model from PIL import Image from qwen_vl_utils.vision_process import smart_resize from torch import Tensor @@ -454,6 +453,8 @@ def define_action_token_id(self): } def add_lora(self, r=8, lora_alpha=32, target_modules=["q_proj", "v_proj"], lora_dropout=0.1): + from peft import LoraConfig, get_peft_model + """ Add LoRA (Low-Rank Adaptation) adapters to the model.