admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-16 00:59:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

chore(dependencies): bump transformers v5 (#2964)

Browse Source 
* chore(dependencies): upgrade transformers + hggingface-hub + peft + scipy

* chore(dependencies): bump pi0 family to transformers v5

* chore(dependencies): bump wall x to transformers v5

* chore(dependencies): bump gr00t to transformers v5

* chore(style): fix pre-commit

* fix(policy): xvla forced_bos_token missing

* test(rl): skip ci tests for resnet10

* Fix: full pi models support for transformer v5 (#2967)

* fix(pi): remove loss truncation

* fix(pi): remove state padding before tokenization

* fix(pi): fix image padding value

* fix from_pretrain

* add transformer v5 changes

* remove reference

* more fixes

* make it work

* add support for rest of pi family

* add pifast work

* more changes

* more changes

* more cleanup

* fix torch params

* dtype fix

* torch compile

* embed mismatch fix

* revert groot

* more nit fixes

* remove unused classes

* more fixes

* revert

* nit

* torch dtype warning fix

* but back dynamic renaming

* add tie embedding

---------

Co-authored-by: Yufei Sun <skieyfly@gmail.com>

* chore: fix XVLA in transformers v5 (#3006)

* test(policies): enable wall x CI testing

* style(test): pre-commit check

* style(test): pre-commit

* fix wall x for transformer v5 (#3008)

* tv5 fix

* various wall x fixes

* Delete tests/policies/pi0_pi05/print_pi05_output_logits.py

Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* sync modeling_florence2.py with chore/bump_transformers_v5

* more

* more fixes

* more

* remove comment

* more

---------

Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* chore(dependencies): adjust dependencies versioning after transformers v5 (#3034)

* chore(dependecies): adjust dependecies versioning after transformers v5

* fix(policies): remove deprecated input_embeds

* fix(policies): dict _tied_weights_keys

* chore(depedencies): common qwen-vl-utils

* chore(dependencies): bump transformers to 5.2

* Fix policy testing for tv5 (#3032)

* fix ci logger

* other fix

* fix mypy

* change logits to torch2.10

* skip wallx|

* remove logging

---------

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

* feat(ci): log into HF to unblock some CI tests (#3007)

* feat(ci): log into HF to unblock some CI tests

* chore(ci): change hf call + secret name

* fix(ci): temp fix for pi0 rtc test

* test(policies): require_cuda for unblocked tests

* test(policies): require_cuda wall_x

* fic(tests): require_cuda outter most for pi0

* fix(test): return instead of yield

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

* style(test): fix pre-commit

* chore(deps): upgrade transformers (#3050)

* chore(test): use lerobot model

* fix(policies): change default action tokenizer for wall x

* sample on cpu

* Revert "Merge branch 'chore/bump_transformers_v5' of https://github.com/huggingface/lerobot into chore/bump_transformers_v5"

This reverts commit d9b76755f7, reversing
changes made to 89359cb0b6.

* Reapply "Merge branch 'chore/bump_transformers_v5' of https://github.com/huggingface/lerobot into chore/bump_transformers_v5"

This reverts commit c9914db78b.

---------

Signed-off-by: Jade Choghari <chogharijade@gmail.com>
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Yufei Sun <skieyfly@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Steven Palma
2026-03-05 09:25:26 +01:00
committed by GitHub
parent cbc8bfb2e6
commit f0d2b37beb
30 changed files with 694 additions and 328 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/policies/hilserl/test_modeling_classifier.py
+13
View File
@@ -14,6 +14,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.
import pytest
import torch
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
@@ -37,6 +38,9 @@ def test_classifier_output():
@require_package("transformers")
@pytest.mark.skip(
reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
)
def test_binary_classifier_with_default_params():
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
@@ -78,6 +82,9 @@ def test_binary_classifier_with_default_params():
@require_package("transformers")
@pytest.mark.skip(
reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
)
def test_multiclass_classifier():
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
@@ -117,6 +124,9 @@ def test_multiclass_classifier():
@require_package("transformers")
@pytest.mark.skip(
reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
)
def test_default_device():
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
@@ -129,6 +139,9 @@ def test_default_device():
@require_package("transformers")
@pytest.mark.skip(
reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
)
def test_explicit_device_setup():
from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py
+12 -11
View File
@@ -17,7 +17,6 @@
"""Test script to verify PI0Fast policy integration with LeRobot vs the original implementation"""
# ruff: noqa: E402
import os
import random
from copy import deepcopy
from typing import Any
@@ -28,10 +27,6 @@ import torch
pytest.importorskip("transformers")
pytest.importorskip("scipy")
pytestmark = pytest.mark.skipif(
os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
reason="This test requires accepting the model license",
)
from lerobot.policies.pi0_fast.configuration_pi0_fast import PI0FastConfig
from lerobot.policies.pi0_fast.modeling_pi0_fast import PI0FastPolicy
@@ -53,22 +48,23 @@ DUMMY_STATE_DIM = 20
IMAGE_HEIGHT = 224
IMAGE_WIDTH = 224
NUM_VIEWS = 2 # Number of camera views
DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
DEVICE = "cuda"
MODEL_PATH_LEROBOT = "lerobot/pi0fast-base"
# Expected action token shape: (batch_size, max_decoding_steps)
EXPECTED_ACTION_TOKENS_SHAPE = (1, 2)
# Expected first 5 action tokens (for reproducibility check)
EXPECTED_ACTION_TOKENS_FIRST_5 = torch.tensor([255657, 255362])
EXPECTED_ACTION_TOKENS_FIRST_5 = torch.tensor([255020, 255589])
# Expected actions after detokenization
EXPECTED_ACTIONS_SHAPE = (1, 2, 32) # (batch_size, n_action_steps, action_dim)
EXPECTED_ACTIONS_MEAN = 0.04419417306780815
EXPECTED_ACTIONS_STD = 0.26231569051742554
EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.0000, 1.4849, 0.0000, 0.0000, 0.0000])
EXPECTED_ACTIONS_MEAN = 0.046403881162405014
EXPECTED_ACTIONS_STD = 0.2607129216194153
EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.0000, 0.3536, 0.0707, 0.0000, 0.0000])
@require_cuda
def set_seed_all(seed: int):
"""Set random seed for all RNG sources to ensure reproducibility."""
random.seed(seed)
@@ -85,6 +81,7 @@ def set_seed_all(seed: int):
torch.use_deterministic_algorithms(True, warn_only=True)
@require_cuda
def instantiate_lerobot_pi0_fast(
from_pretrained: bool = False,
model_path: str = MODEL_PATH_LEROBOT,
@@ -127,6 +124,7 @@ def instantiate_lerobot_pi0_fast(
return policy, preprocessor, postprocessor
@require_cuda
def create_dummy_data(device=DEVICE):
"""Create dummy data for testing both implementations."""
batch_size = 1
@@ -158,22 +156,25 @@ def create_dummy_data(device=DEVICE):
# Pytest fixtures
@pytest.fixture(scope="module")
@require_cuda
def pi0_fast_components():
"""Fixture to instantiate and provide all PI0Fast components for tests."""
print(f"\nTesting with DEVICE='{DEVICE}'")
print("\n[Setup] Instantiating LeRobot PI0Fast policy...")
policy_obj, preprocessor_obj, postprocessor_obj = instantiate_lerobot_pi0_fast(from_pretrained=True)
print("Model loaded successfully")
yield policy_obj, preprocessor_obj, postprocessor_obj
return policy_obj, preprocessor_obj, postprocessor_obj
@pytest.fixture(scope="module")
@require_cuda
def policy(pi0_fast_components):
"""Fixture to provide the PI0Fast policy for tests."""
return pi0_fast_components[0]
@pytest.fixture(scope="module")
@require_cuda
def preprocessor(pi0_fast_components):
"""Fixture to provide the PI0Fast preprocessor for tests."""
return pi0_fast_components[1]
tests/policies/pi0_pi05/test_pi0.py
-9
View File
@@ -16,17 +16,8 @@
"""Test script to verify PI0 policy integration with LeRobot, only meant to be run locally!"""
import os
import pytest
import torch
# Skip this entire module in CI
pytestmark = pytest.mark.skipif(
os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
reason="This test requires local OpenPI installation and is not meant for CI",
)
from lerobot.policies.factory import make_policy_config # noqa: E402
from lerobot.policies.pi0 import ( # noqa: E402
PI0Config,
tests/policies/pi0_pi05/test_pi05.py
+1 -11
View File
@@ -16,25 +16,15 @@
"""Test script to verify PI0.5 (pi05) support in PI0 policy, only meant to be run locally!"""
import os
import pytest
import torch
from lerobot.utils.random_utils import set_seed
# Skip this entire module in CI
pytestmark = pytest.mark.skipif(
os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
reason="This test requires local OpenPI installation and is not meant for CI",
)
from lerobot.policies.factory import make_policy_config # noqa: E402
from lerobot.policies.pi05 import ( # noqa: E402
PI05Config,
PI05Policy,
make_pi05_pre_post_processors, # noqa: E402
)
from lerobot.utils.random_utils import set_seed
from tests.utils import require_cuda # noqa: E402
tests/policies/pi0_pi05/test_pi05_rtc.py
+2 -1
View File
@@ -24,9 +24,10 @@ import torch
# Skip this entire module in CI
pytestmark = pytest.mark.skipif(
os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
reason="This test requires local OpenPI installation and is not meant for CI",
reason="TODO: This test seems to hang the CI",
)
from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule # noqa: E402
from lerobot.policies.pi05 import PI05Config, PI05Policy, make_pi05_pre_post_processors # noqa: E402
from lerobot.policies.rtc.configuration_rtc import RTCConfig # noqa: E402
tests/policies/pi0_pi05/test_pi0_rtc.py
+3 -1
View File
@@ -24,9 +24,10 @@ import torch
# Skip this entire module in CI
pytestmark = pytest.mark.skipif(
os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
reason="This test requires local OpenPI installation and is not meant for CI",
reason="TODO: This test seems to hang the CI",
)
from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule # noqa: E402
from lerobot.policies.pi0 import PI0Config, PI0Policy, make_pi0_pre_post_processors # noqa: E402
from lerobot.policies.rtc.configuration_rtc import RTCConfig # noqa: E402
@@ -88,6 +89,7 @@ def test_pi0_rtc_initialization_without_rtc_config():
print("✓ PI0 RTC initialization without RTC config: Test passed")
@require_cuda
def test_pi0_rtc_inference_with_prev_chunk():
"""Test PI0 policy inference with RTC and previous chunk."""
set_seed(42)
tests/policies/test_sac_policy.py
+3
View File
@@ -305,6 +305,9 @@ def test_sac_policy_with_visual_input(batch_size: int, state_dim: int, action_di
[(1, 6, 6, "helper2424/resnet10"), (1, 6, 6, "facebook/convnext-base-224")],
)
@pytest.mark.skipif(not TRANSFORMERS_AVAILABLE, reason="Transformers are not installed")
@pytest.mark.skip(
reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
)
def test_sac_policy_with_pretrained_encoder(
batch_size: int, state_dim: int, action_dim: int, vision_encoder_name: str
):
tests/policies/wall_x/test_wallx.py
+3 -13
View File
@@ -16,8 +16,6 @@
"""Test script to verify Wall-X policy integration with LeRobot, only meant to be run locally!"""
import os
import pytest
import torch
@@ -26,19 +24,15 @@ pytest.importorskip("peft")
pytest.importorskip("transformers")
pytest.importorskip("torchdiffeq")
# Skip this entire module in CI
pytestmark = pytest.mark.skipif(
os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
reason="This test requires local Wall-X installation and is not meant for CI",
)
from lerobot.policies.factory import make_policy_config # noqa: E402
from lerobot.policies.wall_x import WallXConfig # noqa: E402
from lerobot.policies.wall_x.modeling_wall_x import WallXPolicy # noqa: E402
from lerobot.policies.wall_x.processor_wall_x import make_wall_x_pre_post_processors # noqa: E402
from lerobot.utils.random_utils import set_seed # noqa: E402
from tests.utils import require_cuda # noqa: E402
@require_cuda
def test_policy_instantiation():
# Create config
set_seed(42)
@@ -123,6 +117,7 @@ def test_policy_instantiation():
raise
@require_cuda
def test_config_creation():
"""Test policy config creation through factory."""
try:
@@ -134,8 +129,3 @@ def test_config_creation():
except Exception as e:
print(f"Config creation failed: {e}")
raise
if __name__ == "__main__":
test_policy_instantiation()
test_config_creation()