lerobot/common/policies/pi0/modeling_pi0.py [397:433]:
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            padding_side="right",
            max_length=self.config.tokenizer_max_length,
            return_tensors="pt",
        )
        lang_tokens = tokenized_prompt["input_ids"].to(device=device)
        lang_masks = tokenized_prompt["attention_mask"].to(device=device, dtype=torch.bool)

        return lang_tokens, lang_masks

    def _pi_aloha_decode_state(self, state):
        # Flip the joints.
        for motor_idx in [1, 2, 8, 9]:
            state[:, motor_idx] *= -1
        # Reverse the gripper transformation that is being applied by the Aloha runtime.
        for motor_idx in [6, 13]:
            state[:, motor_idx] = aloha_gripper_to_angular(state[:, motor_idx])
        return state

    def _pi_aloha_encode_actions(self, actions):
        # Flip the joints.
        for motor_idx in [1, 2, 8, 9]:
            actions[:, :, motor_idx] *= -1
        # Reverse the gripper transformation that is being applied by the Aloha runtime.
        for motor_idx in [6, 13]:
            actions[:, :, motor_idx] = aloha_gripper_from_angular(actions[:, :, motor_idx])
        return actions

    def _pi_aloha_encode_actions_inv(self, actions):
        # Flip the joints again.
        for motor_idx in [1, 2, 8, 9]:
            actions[:, :, motor_idx] *= -1
        # Reverse the gripper transformation that is being applied by the Aloha runtime.
        for motor_idx in [6, 13]:
            actions[:, :, motor_idx] = aloha_gripper_from_angular_inv(actions[:, :, motor_idx])
        return actions

    def prepare_state(self, batch):
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lerobot/common/policies/smolvla/modeling_smolvla.py [536:572]:
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            padding_side="right",
            max_length=self.config.tokenizer_max_length,
            return_tensors="pt",
        )
        lang_tokens = tokenized_prompt["input_ids"].to(device=device)
        lang_masks = tokenized_prompt["attention_mask"].to(device=device, dtype=torch.bool)

        return lang_tokens, lang_masks

    def _pi_aloha_decode_state(self, state):
        # Flip the joints.
        for motor_idx in [1, 2, 8, 9]:
            state[:, motor_idx] *= -1
        # Reverse the gripper transformation that is being applied by the Aloha runtime.
        for motor_idx in [6, 13]:
            state[:, motor_idx] = aloha_gripper_to_angular(state[:, motor_idx])
        return state

    def _pi_aloha_encode_actions(self, actions):
        # Flip the joints.
        for motor_idx in [1, 2, 8, 9]:
            actions[:, :, motor_idx] *= -1
        # Reverse the gripper transformation that is being applied by the Aloha runtime.
        for motor_idx in [6, 13]:
            actions[:, :, motor_idx] = aloha_gripper_from_angular(actions[:, :, motor_idx])
        return actions

    def _pi_aloha_encode_actions_inv(self, actions):
        # Flip the joints again.
        for motor_idx in [1, 2, 8, 9]:
            actions[:, :, motor_idx] *= -1
        # Reverse the gripper transformation that is being applied by the Aloha runtime.
        for motor_idx in [6, 13]:
            actions[:, :, motor_idx] = aloha_gripper_from_angular_inv(actions[:, :, motor_idx])
        return actions

    def prepare_state(self, batch):
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