[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

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)

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