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Add MolmoAct2 policy (#3604)

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* add molmoact2 policy

* add apache headers to molmoact2 files

* simplify molmoact2 package imports

* align molmoact2 feature validation with eo pattern

* remove molmoact2 processor override from factory

* guard molmoact2 transformers imports

* guard molmoact2 processor transformers import

* add scipy dependency to molmoact2 extra

* use a single molmoact2 action queue

* move molmoact2 config logic into config

* fix molmoact2 hf image key resolution

* load molmoact2 without remote code

* lazy import molmoact2 scipy

* format molmoact2 files

* skip molmoact2 tests without optional deps

* fix molmoact2 pre-commit checks

* validate molmoact2 gripper range
This commit is contained in:
Haoquan Fang
2026-05-27 09:58:37 -07:00
committed by GitHub
parent e86f5af5bf
commit 24017e960c
21 changed files with 13226 additions and 4 deletions
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@@ -2915,6 +2915,11 @@ metaworld = [
{ name = "scipy" },
{ name = "torchcodec", marker = "(platform_machine == 'arm64' and sys_platform == 'darwin') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'aarch64' and sys_platform == 'linux') or (platform_machine == 'arm64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or sys_platform == 'win32'" },
]
molmoact2 = [
{ name = "peft" },
{ name = "scipy" },
{ name = "transformers" },
]
motorbridge-dep = [
{ name = "motorbridge" },
]
@@ -3131,6 +3136,7 @@ requires-dist = [
{ name = "lerobot", extras = ["matplotlib-dep"], marker = "extra == 'sarm'" },
{ name = "lerobot", extras = ["matplotlib-dep"], marker = "extra == 'unitree-g1'" },
{ name = "lerobot", extras = ["metaworld"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["molmoact2"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["motorbridge-dep"], marker = "extra == 'rebot'" },
{ name = "lerobot", extras = ["motorbridge-smart-servo-dep"], marker = "extra == 'rebot'" },
{ name = "lerobot", extras = ["multi-task-dit"], marker = "extra == 'all'" },
@@ -3138,6 +3144,7 @@ requires-dist = [
{ name = "lerobot", extras = ["openarms"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["peft"], marker = "extra == 'all'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'groot'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'molmoact2'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'peft'" },
{ name = "lerobot", extras = ["peft-dep"], marker = "extra == 'wallx'" },
{ name = "lerobot", extras = ["phone"], marker = "extra == 'all'" },
@@ -3165,6 +3172,7 @@ requires-dist = [
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'aloha'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'libero'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'metaworld'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'molmoact2'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'phone'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'pi'" },
{ name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'wallx'" },
@@ -3176,6 +3184,7 @@ requires-dist = [
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'groot'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'hilserl'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'libero'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'molmoact2'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'multi-task-dit'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'peft'" },
{ name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'pi'" },
@@ -3249,7 +3258,7 @@ requires-dist = [
{ name = "transformers", marker = "extra == 'transformers-dep'", specifier = ">=5.4.0,<5.6.0" },
{ name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.25.0" },
]
provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-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", "smolvla", "multi-task-dit", "groot", "sarm", "topreward", "xvla", "eo1", "hilserl", "async", "peft", "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", "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", "topreward", "xvla", "eo1", "hilserl", "async", "peft", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
[[package]]
name = "librt"