From a0510c0f5e911b8df748ca6b10d90952ab03fb75 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 3 Apr 2025 05:57:51 +0000
Subject: [PATCH] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 lerobot/common/optim/schedulers.py       | 8 ++++++--
 lerobot/common/policies/dexvla/README.md | 6 +++---
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/lerobot/common/optim/schedulers.py b/lerobot/common/optim/schedulers.py
index 5609c8b4..e2ebb9e3 100644
--- a/lerobot/common/optim/schedulers.py
+++ b/lerobot/common/optim/schedulers.py
@@ -109,13 +109,16 @@ class CosineDecayWithWarmupSchedulerConfig(LRSchedulerConfig):
             return cosine_decay_schedule(current_step)
 
         return LambdaLR(optimizer, lr_lambda, -1)
+
+
 @LRSchedulerConfig.register_subclass("constant_with_warmup")
 @dataclass
 class ConstantWithWarmupSchedulerConfig(LRSchedulerConfig):
     """Used by DexVLA to train Stage2"""
-    num_warmup_steps: int
-    def build(self, optimizer: Optimizer, num_training_steps: int) -> LambdaLR:
 
+    num_warmup_steps: int
+
+    def build(self, optimizer: Optimizer, num_training_steps: int) -> LambdaLR:
         def lr_lambda(current_step):
             def linear_warmup_schedule(current_step):
                 if current_step <= 0:
@@ -133,6 +136,7 @@ class ConstantWithWarmupSchedulerConfig(LRSchedulerConfig):
 
         return LambdaLR(optimizer, lr_lambda, -1)
 
+
 def save_scheduler_state(scheduler: LRScheduler, save_dir: Path) -> None:
     state_dict = scheduler.state_dict()
     write_json(state_dict, save_dir / SCHEDULER_STATE)
diff --git a/lerobot/common/policies/dexvla/README.md b/lerobot/common/policies/dexvla/README.md
index 4ea17308..cbf94d8b 100644
--- a/lerobot/common/policies/dexvla/README.md
+++ b/lerobot/common/policies/dexvla/README.md
@@ -90,7 +90,7 @@ python lerobot/scripts/train.py \
 --output_dir /path/to/output \
 --steps 10000 \
 --save_freq 1000 \
---optimizer_lr 2e-5 
+--optimizer_lr 2e-5
 ~~~
 
 ### Training Stage 3
@@ -108,7 +108,7 @@ python lerobot/scripts/train.py \
 --output_dir /path/to/output \
 --steps 10000 \
 --save_freq 1000 \
---optimizer_lr 2e-5 
+--optimizer_lr 2e-5
 ~~~
 
 ### Training Time
@@ -133,7 +133,7 @@ python lerobot/scripts/eval.py \
 --policy.qwen2_vl_path /path/to/official/Qwen2-VL-2B-Instruct \
 --env.task AlohaInsertion-v0 \
 --eval.n_episodes 1 \
---eval.batch_size 1 
+--eval.batch_size 1
 ~~~
 
 ### Inference Speed