Package folder structure (#1417)

* Move files * Replace imports & paths * Update relative paths * Update doc symlinks * Update instructions paths * Fix imports * Update grpc files * Update more instructions * Downgrade grpc-tools * Update manifest * Update more paths * Update config paths * Update CI paths * Update bandit exclusions * Remove walkthrough section
2026-06-03 12:21:27 +00:00 · 2025-07-01 16:34:46 +02:00
parent 483be9aac2
commit d4ee470b00
268 changed files with 862 additions and 890 deletions
--- a/src/lerobot/policies/pi0/conversion_scripts/conversion_utils.py
+++ b/src/lerobot/policies/pi0/conversion_scripts/conversion_utils.py
@@ -0,0 +1,84 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from transformers import GemmaConfig, PaliGemmaConfig
+
+
+def get_paligemma_config(precision: str):
+    config = {
+        "image_token_index": None,
+        "pad_token_id": 0,
+        "bos_token_id": 2,
+        "eos_token_id": 1,
+    }
+
+    # image_sizes = {"2b-test": 224, "3b-224px": 224, "3b-448px": 448, "3b-896px": 896}
+
+    image_size = 224  # image_sizes[variant]
+    patch_size = 14
+    num_image_tokens = (image_size**2) // (patch_size**2)
+
+    config["image_token_index"] = 257152
+    text_config = {
+        "vocab_size": 257152,
+        "num_hidden_layers": 18,
+        "num_key_value_heads": 1,
+        "head_dim": 256,
+        "torch_dtype": precision,
+        "hidden_size": 2048,
+        "hidden_activation": "gelu_pytorch_tanh",
+        "num_attention_heads": 8,
+        "intermediate_size": 16384,
+        "is_encoder_decoder": False,
+    }
+    vision_config = {
+        "torch_dtype": precision,
+        "image_size": image_size,
+        "patch_size": patch_size,
+        "num_image_tokens": num_image_tokens,
+        "hidden_size": 1152,
+        "intermediate_size": 4304,
+        "num_hidden_layers": 27,
+        "num_attention_heads": 16,
+        "projector_hidden_act": "gelu_fast",
+        "vision_use_head": False,
+    }
+    final_config = PaliGemmaConfig(text_config=text_config, vision_config=vision_config, **config)
+    return final_config
+
+
+def get_gemma_config(precision: str):
+    config = {
+        "image_token_index": None,
+        "pad_token_id": 0,
+        "bos_token_id": 2,
+        "eos_token_id": 1,
+    }
+
+    config["image_token_index"] = 257152
+    text_config = {
+        "vocab_size": 257152,
+        "num_hidden_layers": 18,
+        "num_key_value_heads": 1,
+        "head_dim": 256,
+        "torch_dtype": precision,
+        "hidden_size": 1024,
+        "hidden_activation": "gelu_pytorch_tanh",
+        "num_attention_heads": 8,
+        "intermediate_size": 4096,
+        "is_encoder_decoder": False,
+    }
+    final_config = GemmaConfig()
+    final_config.update(text_config)
+    return final_config