lerobot/common/policies/pi0/modeling_pi0.py [492:511]:
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    def set_requires_grad(self):
        for params in self.state_proj.parameters():
            params.requires_grad = self.config.train_state_proj

    def sample_noise(self, shape, device):
        noise = torch.normal(
            mean=0.0,
            std=1.0,
            size=shape,
            dtype=torch.float32,
            device=device,
        )
        return noise

    def sample_time(self, bsize, device):
        time_beta = sample_beta(1.5, 1.0, bsize, device)
        time = time_beta * 0.999 + 0.001
        return time.to(dtype=torch.float32, device=device)

    def embed_prefix(
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lerobot/common/policies/smolvla/modeling_smolvla.py [672:691]:
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    def set_requires_grad(self):
        for params in self.state_proj.parameters():
            params.requires_grad = self.config.train_state_proj

    def sample_noise(self, shape, device):
        noise = torch.normal(
            mean=0.0,
            std=1.0,
            size=shape,
            dtype=torch.float32,
            device=device,
        )
        return noise

    def sample_time(self, bsize, device):
        time_beta = sample_beta(1.5, 1.0, bsize, device)
        time = time_beta * 0.999 + 0.001
        return time.to(dtype=torch.float32, device=device)

    def embed_prefix(
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