add create config and policy for dexvla

lerobot/common/policies/__init__.py

@@ -3,3 +3,4 @@ from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfi
 from .pi0.configuration_pi0 import PI0Config as PI0Config
 from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
 from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
+from .dexvla.configuration_dexvla import DexVLAConfig as DexVLAConfig

lerobot/common/policies/factory.py

@@ -26,6 +26,7 @@ from lerobot.common.envs.utils import env_to_policy_features
 from lerobot.common.policies.act.configuration_act import ACTConfig
 from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.common.policies.pi0.configuration_pi0 import PI0Config
+from lerobot.common.policies.dexvla.configuration_dexvla import DexVLAConfig
 from lerobot.common.policies.pretrained import PreTrainedPolicy
 from lerobot.common.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.common.policies.vqbet.configuration_vqbet import VQBeTConfig
@@ -55,6 +56,10 @@ def get_policy_class(name: str) -> PreTrainedPolicy:
         from lerobot.common.policies.pi0.modeling_pi0 import PI0Policy
 
         return PI0Policy
+    elif name == "dexvla":
+        from lerobot.common.policies.dexvla.modeling_dexvla import DexVLAPolicy
+
+        return DexVLAPolicy
     else:
         raise NotImplementedError(f"Policy with name {name} is not implemented.")
 
@@ -70,6 +75,8 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
         return VQBeTConfig(**kwargs)
     elif policy_type == "pi0":
         return PI0Config(**kwargs)
+    elif policy_type == "dexvla":
+        return DexVLAConfig(**kwargs)
     else:
         raise ValueError(f"Policy type '{policy_type}' is not available.")