feat(vla): add SmolVLA conditioning and experiment artifacts

tests/test_eval_vla_headless.py

@@ -598,6 +598,42 @@ class EvalVLAHeadlessTest(unittest.TestCase):
         execute_policy_action.assert_called_once()
         self.assertEqual(fake_env.reset_calls, [sampled_task_state])
 
+    def test_parallel_socket_peg_payloads_do_not_plan_transfer_box_poses(self):
+        cfg = OmegaConf.create(
+            {
+                "agent": {},
+                "eval": {
+                    "num_episodes": 3,
+                    "num_workers": 2,
+                    "task_name": "sim_air_insert_socket_peg",
+                },
+            }
+        )
+
+        with mock.patch.object(
+            eval_vla,
+            "sample_transfer_pose",
+            side_effect=AssertionError(
+                "sim_air_insert_socket_peg parallel rollout must not sample transfer box poses"
+            ),
+        ):
+            payloads, active_workers = eval_vla._build_parallel_worker_payloads(
+                cfg,
+                {"output_dir": None},
+            )
+
+        self.assertEqual(active_workers, 2)
+        planned_episodes = [
+            episode_plan
+            for payload in payloads
+            for episode_plan in payload["episode_plans"]
+        ]
+        self.assertEqual(
+            [plan["episode_index"] for plan in planned_episodes],
+            [0, 1, 2],
+        )
+        self.assertTrue(all("box_pos" not in plan for plan in planned_episodes))
+
 
 if __name__ == "__main__":
     unittest.main()