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Geoffrey19
2025-12-07 16:04:47 +08:00
committed by Michel Aractingi
parent a754c86f64
commit d2b16afb12
2 changed files with 4 additions and 14 deletions
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src/lerobot/policies/wall_x/modeling_wall_x.py
+4 -11
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@@ -34,14 +34,10 @@ lerobot-train \
``` ```
""" """
import builtins
import glob
import math import math
import os
from os import PathLike from os import PathLike
import sys
from collections import deque from collections import deque
from pathlib import Path
from typing import Any, Dict, List, Optional, Tuple, Union from typing import Any, Dict, List, Optional, Tuple, Union
from PIL import Image from PIL import Image
@@ -50,13 +46,11 @@ import torch
import torch.nn as nn import torch.nn as nn
import torch.nn.functional as F import torch.nn.functional as F
from peft import LoraConfig, get_peft_model from peft import LoraConfig, get_peft_model
from safetensors.torch import load_file
from torch import Tensor from torch import Tensor
from torch.distributions import Beta from torch.distributions import Beta
from torch.nn import CrossEntropyLoss from torch.nn import CrossEntropyLoss
from torchdiffeq import odeint from torchdiffeq import odeint
from transformers import AutoConfig, AutoProcessor from transformers import AutoProcessor
from transformers.activations import ACT2FN
from transformers.cache_utils import ( from transformers.cache_utils import (
StaticCache, StaticCache,
) )
@@ -64,11 +58,10 @@ from transformers.utils import is_torchdynamo_compiling, logging
from transformers import AutoProcessor, BatchFeature from transformers import AutoProcessor, BatchFeature
from qwen_vl_utils.vision_process import smart_resize from qwen_vl_utils.vision_process import smart_resize
from lerobot.configs.policies import PreTrainedConfig from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.pretrained import PreTrainedPolicy, T
from lerobot.policies.utils import populate_queues from lerobot.policies.utils import populate_queues
from lerobot.policies.wall_x.configuration_wall_x import WallXConfig from lerobot.policies.wall_x.configuration_wall_x import WallXConfig
from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS, OBS_STATE from lerobot.utils.constants import ACTION, OBS_STATE
from lerobot.policies.wall_x.utils import * from lerobot.policies.wall_x.utils import *
from lerobot.policies.wall_x.constant import * from lerobot.policies.wall_x.constant import *
src/lerobot/policies/wall_x/utils.py
-3
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@@ -21,7 +21,6 @@ Contains data processing utilities, text formatting functions, and helper classe
for the Wall-X cross-embodiment robotic control model. for the Wall-X cross-embodiment robotic control model.
""" """
import json
import random import random
import re import re
from collections import OrderedDict from collections import OrderedDict
@@ -626,13 +625,11 @@ def replace_action_token(
text: List of text strings with action placeholders text: List of text strings with action placeholders
norm_action: Normalized action tensors norm_action: Normalized action tensors
action_tokenizer: Tokenizer for converting actions to tokens action_tokenizer: Tokenizer for converting actions to tokens
dataset_names: Names of datasets for each sample
dof_masks: Masks for degrees of freedom dof_masks: Masks for degrees of freedom
Returns: Returns:
List of text strings with action tokens replaced List of text strings with action tokens replaced
""" """
# Filter out multimodal dataset names
if action_tokenizer is not None and norm_action is not None: if action_tokenizer is not None and norm_action is not None:
# Extract actions based on chunk sizes and DOF masks # Extract actions based on chunk sizes and DOF masks
norm_action = [ norm_action = [