mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-28 15:09:51 +00:00
Haoming Song
b74a551d38
* chore(gr00t): sync with #3606 for fixing gr00t config crash * fix(pi0&pi05): fix graph break caused by deepcopy of past_key_values in sample_actions * fix(pi0&pi05): fix frequent recompile caused by compute_layer_complete * feat(test): add compile test and benchamrk for pi0 and pi05 * feat(test): add comprehensive testing for pi0 and pi05. Including processor, forward, sample action, etc.
23 lines
726 B
Python
23 lines
726 B
Python
from dataclasses import dataclass
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@dataclass
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class Config:
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width: int
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depth: int
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mlp_dim: int
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num_heads: int
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num_kv_heads: int
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head_dim: int
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def get_config(variant: str) -> Config:
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"""Return the Gemma shape config needed by the OpenPI PyTorch model."""
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if variant == "dummy":
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return Config(width=64, depth=4, mlp_dim=128, num_heads=8, num_kv_heads=1, head_dim=16)
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if variant == "gemma_300m":
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return Config(width=1024, depth=18, mlp_dim=4096, num_heads=8, num_kv_heads=1, head_dim=256)
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if variant == "gemma_2b":
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return Config(width=2048, depth=18, mlp_dim=16_384, num_heads=8, num_kv_heads=1, head_dim=256)
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raise ValueError(f"Unknown variant: {variant}")
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