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feat(policies): Add FastWAM Policy (#3834)

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* Add FastWAM policy

* Add FastWAM policy review updates

* big refactor to use models from diffusers and transformers

* changing reproducable results

* preparing for training adding some temporary debug code aswell to visualize model output

* re-parenting of some layers to enable proper zero-3 FSDP

* linting

* small fix for the preprocessor and padded images

* removing some preprocessors

* removing temporary debug code

* cleaning up

* updating uv lock after rebasing

* adding lazy imports

* linting

* fixing stale assertion

* make tokenizer/text-encoder model ids configurable + some nits

* moving and renaming files to have a cleaner file tree

* removed asserts from the model, added guard instead and completely removed useless asserts

* cleaning up imports

* removing is_main_process and custom logging logic

* removing unused / stale attention path, removing some of the stale forwards within wan/models

---------

Co-authored-by: ZibinDong <zibindong@outlook.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Maxime Ellerbach
2026-07-01 14:35:57 +02:00
committed by GitHub
parent 8414188db0
commit 141c353206
20 changed files with 5057 additions and 3 deletions
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uv.lock
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@@ -1,5 +1,5 @@
version = 1
revision = 2
revision = 3
requires-python = ">=3.12"
resolution-markers = [
"(python_full_version >= '3.15' and platform_machine == 'AMD64' and sys_platform == 'linux') or (python_full_version >= '3.15' and platform_machine == 'x86_64' and sys_platform == 'linux')",
@@ -2955,6 +2955,10 @@ eo1 = [
evaluation = [
{ name = "av" },
]
fastwam = [
{ name = "diffusers" },
{ name = "transformers" },
]
feetech = [
{ name = "deepdiff" },
{ name = "feetech-servo-sdk" },
@@ -3261,11 +3265,13 @@ requires-dist = [
{ name = "lerobot", extras = ["deepdiff-dep"], marker = "extra == 'hardware'" },
{ name = "lerobot", extras = ["dev"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'diffusion'" },
{ name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'fastwam'" },
{ name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'groot'" },
{ name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'multi-task-dit'" },
{ name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'vla-jepa'" },
{ name = "lerobot", extras = ["diffusion"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["dynamixel"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["fastwam"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["feetech"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["feetech"], marker = "extra == 'hopejr'" },
{ name = "lerobot", extras = ["feetech"], marker = "extra == 'lekiwi'" },
@@ -3335,6 +3341,7 @@ requires-dist = [
{ name = "lerobot", extras = ["training"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'annotations'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'eo1'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'fastwam'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'groot'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'hilserl'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'libero'" },
@@ -3417,7 +3424,7 @@ requires-dist = [
{ name = "transformers", marker = "extra == 'transformers-dep'", specifier = ">=5.4.0,<5.6.0" },
{ name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.28.0" },
]
provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "accelerate-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "hilserl", "vla-jepa", "async", "peft", "annotations", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "accelerate-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "fastwam", "hilserl", "vla-jepa", "async", "peft", "annotations", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
[[package]]
name = "librt"