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4 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Steven Palma
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f0d2b37beb |
chore(dependencies): bump transformers v5 (#2964)
* 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 |
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Steven Palma
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15724826dd |
chore: use alias & constants (#2785)
* chore: use alias and constants * fix(rl): solve circular dependecy * chore: nit right constant * chore: pre-commit * chore(script): conflict tokenizer train --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> |
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Pepijn
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f04958527e |
Add sarm (#2639)
* add initial modeling * make rewind pretrained policy * add annotation * small fix * add sarm * subtasks * fix spawn * fix rewind discrepancies * Add script to generate embedding for dataset (#2138) * Add generate and validate script * fix precommit * Improve generate embeddings function by using dataset tools (#2206) --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> * cleanup * change order train log * print batch size * update sarm processor * add reward output * change expected features * add image validation * change validation * get state input from dataset stats * raise if no state key is found * pass stats * cleanup and refactor * add episode inddex to complementary data * add subtask init and detection * revert lerobot_train changes * pass dataset metadata to policy * change loadig subtasks * add small logging * fix progress conversion and adding initial frame * use large offset for initial frame (ugly) * Remove rewind, use clip tokenizer * add tests, implement formula 1,2 correctly and cleanup * use task from dataset, cleanup visualizer * simplify * simplify and cleanup code and move compute_temporal_proportions to utils * fix normalization in visualization * Fix visualization and change prompt * fix formatting * add visualize subtask annotations * use qwen thinking * try different prompt * format * update prompt * higher temp, long output * different settings * use instruct * show full resp * split message * Temp: increase tolerance dataset * Fix RA-BC (#2572) * Add next observation loading for RA-BC progress deltas * Compute weights based on temporal progress deltas instead of static rewards * Add hard-masking for negative progress deltas in weight computation * Feat/add dual head (#2582) * Add dual dense sparse head and annotation * Add docs * add dual to procesor * cleanup * change sampling in visualize and cleanup * remove validation * remove compile * Feat/test uniform (#2587) * test uniform * add different string for misaligned * Fix rewind and add tests * uncomment text implementation * run precommit * Add head mode for ra-bc * fix visalization of single task * add * return per sample loss * Fix RA_BC (#2602) * update rabc implementation * compute rabc beforehand * fix import * add only progress calulation * use precomputed progress * multi gpu processing * import * fix dataset meta data extraction * add logging * logging * log * progress per episode * split differently * move clip to gpu * pre decode frames for an episode * fix cuda initalization * fix import * multi processing * rename * fix import * fix * fix rabc * use last known progress if oob * use last known progress if oob * add misalignment loss with random embeddings * discard previous changes * add selection of models to docs for ra_bc * add transformers dep * extend tolerance * initial commit with new codebase * add tests * fix * remove temporal sampler * drop last frame for sampler * use original ref * some fixes * fix visualization * remove smoothing and fix order subtasks * add stride rabc computation * add push to hub * add explanation * add kappa expllaination * better rabc logging * feedback pr * remove dataset tolerance * revert dataset tool * revert dataset changes * add credit * run precommit * change path for generate ra_bc * fix type * include sarm in all in pyproject * fix precommit * lazy import matplotlib * lazy import qwen * remove rich console * skip if transformers is not installed? * run only when we have faker * place transformer lazy loading * Dont test if low transformer version * fix * increase transformer * increase as 4.57.0 is yanked * remove pi from all * go back --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com> |
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Jade Choghari
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43b0f17eb9 |
feat(policies): Add X-VLA (#2405)
* first commit * more fixes * add franka action * update testing script * add changes * update files * logits matching * add imagenet as a norm type * logits matching atol1e-2 * more eval fixes * more changes * xvla works on libero * remove seed * more refactoring * more fixes * more changes * more changes * more fixes * migrate policy revert * major pre-commit cleanup * renaming * revert to self.transformer * refactor * new changes * clean * update libero * more changes * make it work * more changes: * remove imagenet dependency * style * more * more refactor * remove proprio * add loss * more * more * add freeze/unfreeze options * add testing * upgrade transformers version * update testing * add installation * remove .sh file * fix testing * silent linter in xvlatest * fix failing test * upgrade test, fix failing * fix testing * more fixes to testing * require cuda in tests * temp check * add xvla docs * fix styling * update libero doc * remove timm dep * add different dtype support * remove timm skip * remove white lines * Enhance X-VLA finetuning documentation with optimizer details (#2537) Added detailed instructions for implementing a custom optimizer and modifying parameter retrieval for X-VLA finetuning. Signed-off-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com> * fix style * iterate on review * iterate on cpilot * revert xvla dep * free up ci * test(xvla): remove main test (#2565) * Add xvla custom optim and dtype (#2567) * add custom optim * add custom optim * add auto mode * more changes * add identity to all * add auto * release * add docs * make image smaller docs * smaller image in doc * evan smaller image doc * finalize doc --------- Signed-off-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com> Signed-off-by: Steven Palma <imstevenpmwork@ieee.org> Co-authored-by: Jinliang Zheng <54488861+2toinf@users.noreply.github.com> Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org> |