siglip again

src/lerobot/policies/rlearn/modeling_rlearn.py

@@ -22,17 +22,6 @@ import torch
 import torch.nn.functional as F
 from torch import Tensor, nn
 
-# ReWiND dependencies
-try:
-    from x_transformers import Decoder
-    import einx
-    from einops import rearrange, repeat, pack, unpack
-except ImportError as e:
-    raise ImportError(
-        "ReWiND dependencies not installed. Please install: "
-        "pip install x-transformers einx einops x-mlps-pytorch"
-    ) from e
-
 from lerobot.constants import OBS_IMAGE, OBS_IMAGES, OBS_LANGUAGE, REWARD
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.rlearn.configuration_rlearn import RLearNConfig
@@ -95,17 +84,17 @@ class RLearNPolicy(PreTrainedPolicy):
         self.first_frame_pos = nn.Parameter(torch.zeros(1, 1, config.dim_model))
 
         # Cross-modal sequential aggregator – causal transformer over
-        # [language tokens | video frame tokens]
+        # [language tokens | video frame tokens] using PyTorch TransformerEncoder
-        self.decoder = Decoder(
+        encoder_layer = nn.TransformerEncoderLayer(
-            dim=config.dim_model,
+            d_model=config.dim_model,
-            depth=config.num_layers,
+            nhead=config.num_heads,
-            heads=config.num_heads,
+            dim_feedforward=config.dim_model * config.ff_mult,
-            ff_mult=config.ff_mult,
+            dropout=config.dropout,
-            attn_dropout=config.dropout,
+            activation="gelu",
-            ff_dropout=config.dropout,
+            batch_first=True,
-            cross_attend=False,
+            norm_first=True,
-            causal=True,
         )
+        self.aggregator = nn.TransformerEncoder(encoder_layer, num_layers=config.num_layers)
 
         # Per-frame predictor head
         self.frame_mlp = nn.Sequential(
@@ -138,7 +127,7 @@ class RLearNPolicy(PreTrainedPolicy):
             try:
                 self.vision_model = torch.compile(self.vision_model, mode="reduce-overhead")
                 self.text_model = torch.compile(self.text_model, mode="reduce-overhead")
-                self.decoder = torch.compile(self.decoder, mode="reduce-overhead")
+                self.aggregator = torch.compile(self.aggregator, mode="reduce-overhead")
                 print("✅ Applied torch.compile to encoders and transformer")
             except Exception as e:
                 print(f"⚠️ torch.compile failed: {e}")
@@ -182,7 +171,7 @@ class RLearNPolicy(PreTrainedPolicy):
             (B, T, P, D_vision) where P is number of patch tokens per frame (excludes CLS)
         """
         B, T, C, H, W = frames.shape
-        flat = rearrange(frames, 'b t c h w -> (b t) c h w')
+        flat = frames.reshape(B * T, C, H, W)
         
         # Optimized: Process tensor directly without numpy conversion
         device = next(self.vision_model.parameters()).device
@@ -222,8 +211,9 @@ class RLearNPolicy(PreTrainedPolicy):
         
         # Robustly reshape to (B, T, P, D): detect correct flatten order by maximizing temporal variance (on patch-mean)
         try:
-            cand1 = rearrange(patch_tokens_flat, '(b t) p d -> b t p d', b=B, t=T)
+            P = patch_tokens_flat.shape[1]
-            cand2 = rearrange(patch_tokens_flat, '(t b) p d -> b t p d', t=T, b=B)
+            cand1 = patch_tokens_flat.reshape(B, T, P, -1)
+            cand2 = patch_tokens_flat.reshape(T, B, P, -1).permute(1, 0, 2, 3)
             def mean_time_diff_4d(x):
                 if T <= 1:
                     return torch.tensor(0.0, device=x.device)
@@ -237,7 +227,8 @@ class RLearNPolicy(PreTrainedPolicy):
                 print(f"DINO reshape choice: {'(b t)->b t' if diff1 >= diff2 else '(t b)->b t'} | diff1={diff1.item():.6f}, diff2={diff2.item():.6f}")
         except Exception:
             # Fallback to default
-            patch_features = rearrange(patch_tokens_flat, '(b t) p d -> b t p d', b=B, t=T)
+            P = patch_tokens_flat.shape[1]
+            patch_features = patch_tokens_flat.view(B, T, P, -1)
         
         # DEBUG: Analyze vision feature variability (use per-frame pooled features for readability)
         if self.training and torch.rand(1).item() < 0.1:  # 10% of training steps for more frequent debugging
@@ -297,7 +288,7 @@ class RLearNPolicy(PreTrainedPolicy):
                     if 'last_hidden_state' in vision_outputs.__dict__ and T >= 2:
                         # Recover CLS tokens
                         cls_flat = tokens[:, 0, :]  # (BT, D)
-                        cls = rearrange(cls_flat, '(b t) d -> b t d', b=B, t=T)
+                        cls = cls_flat.view(B, T, -1)
                         b0 = 0
                         f0, f1 = 0, T - 1
                         # L2 between CLS at two frames
@@ -421,16 +412,26 @@ class RLearNPolicy(PreTrainedPolicy):
         # First-frame positional embedding only
         video_tokens[:, :1, :] = video_tokens[:, :1, :] + self.first_frame_pos
 
-        # Build attention mask for decoder (True = keep)
+        # Build masks for TransformerEncoder
-        # Language mask from tokenizer, rest are fully valid
+        lang_valid = mask  # (B, L) True where valid
-        full_mask = F.pad(mask, (0, video_tokens.shape[1]), value=True)
+        video_valid = torch.ones(B, video_tokens.shape[1], device=device, dtype=torch.bool)
-        # Pack and run transformer
+        valid_mask = torch.cat([lang_valid, video_valid], dim=1)  # (B, S)
+        key_padding_mask = ~valid_mask  # True -> masked
+
+        tokens_seq = torch.cat([lang_tokens, video_tokens], dim=1)  # (B, S, D)
+
+        # Causal mask (S, S): True masks out future positions
+        S = tokens_seq.shape[1]
+        causal_mask = torch.triu(torch.ones(S, S, device=device, dtype=torch.bool), diagonal=1)
+
         transformer_start = time.perf_counter()
-        tokens_packed, packed_shape = pack((lang_tokens, video_tokens), 'b * d')
+        attended_all = self.aggregator(tokens_seq, src_key_padding_mask=key_padding_mask, mask=causal_mask)
-        attended = self.decoder(tokens_packed, mask=full_mask)
-        attended_lang, attended_video = unpack(attended, packed_shape, 'b * d')
         transformer_time = time.perf_counter() - transformer_start
 
+        # Split back video part
+        L_len = lang_tokens.shape[1]
+        attended_video = attended_all[:, L_len:, :]
+
         # Per-frame prediction
         frame_tokens = self.frame_mlp(attended_video)  # (B, T_eff, D)
         raw_logits = self.reward_head(frame_tokens).squeeze(-1)  # (B, T_eff)
@@ -496,11 +497,13 @@ class RLearNPolicy(PreTrainedPolicy):
                 lang_embeds_mm, mask_mm = self._encode_language_tokens(shuffled_commands, device)
                 lang_tokens_mm = self.to_lang_tokens(lang_embeds_mm)
                 
-                # Pack and forward
+                # Pack and forward with masks
-                tokens_mm, lang_video_packed_shape_mm = pack((lang_tokens_mm, video_tokens), 'b * d')
+                lang_valid_mm = mask_mm
-                mask_mm = F.pad(mask_mm, (0, video_tokens.shape[1]), value=True)
+                valid_mask_mm = torch.cat([lang_valid_mm, video_valid], dim=1)
-                attended_mm = self.decoder(tokens_mm, mask=mask_mm)
+                key_padding_mask_mm = ~valid_mask_mm
-                _, attended_video_mm = unpack(attended_mm, lang_video_packed_shape_mm, 'b * d')
+                tokens_seq_mm = torch.cat([lang_tokens_mm, video_tokens], dim=1)
+                attended_all_mm = self.aggregator(tokens_seq_mm, src_key_padding_mask=key_padding_mask_mm, mask=causal_mask)
+                attended_video_mm = attended_all_mm[:, L_len:, :]
                 
                 # Process mismatch frames with single MLP
                 mismatch_tokens = self.frame_mlp(attended_video_mm)  # (B, T, D)