mirror of
https://github.com/huggingface/lerobot.git
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e489ba24fc
* feat(dependecies): upgrade to python3.12 * fix(test): processor regex message * fix(test): processor regex message * fix(dependecies): resolve all tags in python 3.12 * fix(dependecies): add more hints to faster resolve * chore(dependecies): remove cli tag huggingface-hub dep * refactor(policy): update eagle for python3.12 * chore(docs): update policy creation for python 3.12 * chore(test): skip failing tests in macos
591 lines
23 KiB
Python
591 lines
23 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from __future__ import annotations
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import importlib
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import logging
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from typing import Any, TypedDict, Unpack
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import torch
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from lerobot.configs.policies import PreTrainedConfig
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from lerobot.configs.types import FeatureType
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from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
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from lerobot.datasets.utils import dataset_to_policy_features
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from lerobot.envs.configs import EnvConfig
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from lerobot.envs.utils import env_to_policy_features
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from lerobot.policies.act.configuration_act import ACTConfig
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from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
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from lerobot.policies.groot.configuration_groot import GrootConfig
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from lerobot.policies.pi0.configuration_pi0 import PI0Config
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from lerobot.policies.pi05.configuration_pi05 import PI05Config
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from lerobot.policies.pretrained import PreTrainedPolicy
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from lerobot.policies.sac.configuration_sac import SACConfig
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from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
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from lerobot.policies.sarm.configuration_sarm import SARMConfig
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from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
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from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
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from lerobot.policies.utils import validate_visual_features_consistency
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from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
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from lerobot.policies.wall_x.configuration_wall_x import WallXConfig
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from lerobot.policies.xvla.configuration_xvla import XVLAConfig
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from lerobot.processor import PolicyAction, PolicyProcessorPipeline
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from lerobot.processor.converters import (
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batch_to_transition,
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policy_action_to_transition,
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transition_to_batch,
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transition_to_policy_action,
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)
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from lerobot.utils.constants import (
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ACTION,
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POLICY_POSTPROCESSOR_DEFAULT_NAME,
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POLICY_PREPROCESSOR_DEFAULT_NAME,
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)
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def get_policy_class(name: str) -> type[PreTrainedPolicy]:
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"""
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Retrieves a policy class by its registered name.
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This function uses dynamic imports to avoid loading all policy classes into memory
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at once, improving startup time and reducing dependencies.
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Args:
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name: The name of the policy. Supported names are "tdmpc", "diffusion", "act",
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"vqbet", "pi0", "pi05", "sac", "reward_classifier", "smolvla", "wall_x".
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Returns:
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The policy class corresponding to the given name.
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Raises:
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NotImplementedError: If the policy name is not recognized.
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"""
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if name == "tdmpc":
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from lerobot.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
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return TDMPCPolicy
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elif name == "diffusion":
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from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
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return DiffusionPolicy
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elif name == "act":
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from lerobot.policies.act.modeling_act import ACTPolicy
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return ACTPolicy
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elif name == "vqbet":
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from lerobot.policies.vqbet.modeling_vqbet import VQBeTPolicy
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return VQBeTPolicy
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elif name == "pi0":
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from lerobot.policies.pi0.modeling_pi0 import PI0Policy
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return PI0Policy
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elif name == "pi0_fast":
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from lerobot.policies.pi0_fast.modeling_pi0_fast import PI0FastPolicy
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return PI0FastPolicy
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elif name == "pi05":
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from lerobot.policies.pi05.modeling_pi05 import PI05Policy
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return PI05Policy
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elif name == "sac":
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from lerobot.policies.sac.modeling_sac import SACPolicy
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return SACPolicy
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elif name == "reward_classifier":
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from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
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return Classifier
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elif name == "smolvla":
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from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
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return SmolVLAPolicy
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elif name == "sarm":
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from lerobot.policies.sarm.modeling_sarm import SARMRewardModel
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return SARMRewardModel
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elif name == "groot":
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from lerobot.policies.groot.modeling_groot import GrootPolicy
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return GrootPolicy
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elif name == "xvla":
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from lerobot.policies.xvla.modeling_xvla import XVLAPolicy
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return XVLAPolicy
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elif name == "wall_x":
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from lerobot.policies.wall_x.modeling_wall_x import WallXPolicy
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return WallXPolicy
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else:
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try:
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return _get_policy_cls_from_policy_name(name=name)
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except Exception as e:
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raise ValueError(f"Policy type '{name}' is not available.") from e
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def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
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"""
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Instantiates a policy configuration object based on the policy type.
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This factory function simplifies the creation of policy configuration objects by
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mapping a string identifier to the corresponding config class.
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Args:
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policy_type: The type of the policy. Supported types include "tdmpc",
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"diffusion", "act", "vqbet", "pi0", "pi05", "sac", "smolvla",
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"reward_classifier", "wall_x".
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**kwargs: Keyword arguments to be passed to the configuration class constructor.
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Returns:
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An instance of a `PreTrainedConfig` subclass.
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Raises:
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ValueError: If the `policy_type` is not recognized.
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"""
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if policy_type == "tdmpc":
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return TDMPCConfig(**kwargs)
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elif policy_type == "diffusion":
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return DiffusionConfig(**kwargs)
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elif policy_type == "act":
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return ACTConfig(**kwargs)
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elif policy_type == "vqbet":
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return VQBeTConfig(**kwargs)
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elif policy_type == "pi0":
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return PI0Config(**kwargs)
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elif policy_type == "pi05":
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return PI05Config(**kwargs)
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elif policy_type == "sac":
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return SACConfig(**kwargs)
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elif policy_type == "smolvla":
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return SmolVLAConfig(**kwargs)
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elif policy_type == "reward_classifier":
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return RewardClassifierConfig(**kwargs)
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elif policy_type == "groot":
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return GrootConfig(**kwargs)
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elif policy_type == "xvla":
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return XVLAConfig(**kwargs)
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elif policy_type == "wall_x":
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return WallXConfig(**kwargs)
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else:
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try:
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config_cls = PreTrainedConfig.get_choice_class(policy_type)
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return config_cls(**kwargs)
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except Exception as e:
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raise ValueError(f"Policy type '{policy_type}' is not available.") from e
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class ProcessorConfigKwargs(TypedDict, total=False):
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"""
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A TypedDict defining the keyword arguments for processor configuration.
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This provides type hints for the optional arguments passed to `make_pre_post_processors`,
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improving code clarity and enabling static analysis.
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Attributes:
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preprocessor_config_filename: The filename for the preprocessor configuration.
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postprocessor_config_filename: The filename for the postprocessor configuration.
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preprocessor_overrides: A dictionary of overrides for the preprocessor configuration.
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postprocessor_overrides: A dictionary of overrides for the postprocessor configuration.
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dataset_stats: Dataset statistics for normalization.
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"""
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preprocessor_config_filename: str | None
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postprocessor_config_filename: str | None
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preprocessor_overrides: dict[str, Any] | None
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postprocessor_overrides: dict[str, Any] | None
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dataset_stats: dict[str, dict[str, torch.Tensor]] | None
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def make_pre_post_processors(
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policy_cfg: PreTrainedConfig,
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pretrained_path: str | None = None,
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**kwargs: Unpack[ProcessorConfigKwargs],
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) -> tuple[
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PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
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PolicyProcessorPipeline[PolicyAction, PolicyAction],
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]:
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"""
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Create or load pre- and post-processor pipelines for a given policy.
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This function acts as a factory. It can either load existing processor pipelines
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from a pretrained path or create new ones from scratch based on the policy
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configuration. Each policy type has a dedicated factory function for its
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processors (e.g., `make_tdmpc_pre_post_processors`).
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Args:
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policy_cfg: The configuration of the policy for which to create processors.
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pretrained_path: An optional path to load pretrained processor pipelines from.
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If provided, pipelines are loaded from this path.
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**kwargs: Keyword arguments for processor configuration, as defined in
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`ProcessorConfigKwargs`.
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Returns:
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A tuple containing the input (pre-processor) and output (post-processor) pipelines.
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Raises:
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NotImplementedError: If a processor factory is not implemented for the given
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policy configuration type.
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"""
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if pretrained_path:
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# TODO(Steven): Temporary patch, implement correctly the processors for Gr00t
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if isinstance(policy_cfg, GrootConfig):
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# GROOT handles normalization in groot_pack_inputs_v3 step
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# Need to override both stats AND normalize_min_max since saved config might be empty
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preprocessor_overrides = {}
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postprocessor_overrides = {}
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preprocessor_overrides["groot_pack_inputs_v3"] = {
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"stats": kwargs.get("dataset_stats"),
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"normalize_min_max": True,
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}
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# Also ensure postprocessing slices to env action dim and unnormalizes with dataset stats
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env_action_dim = policy_cfg.output_features[ACTION].shape[0]
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postprocessor_overrides["groot_action_unpack_unnormalize_v1"] = {
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"stats": kwargs.get("dataset_stats"),
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"normalize_min_max": True,
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"env_action_dim": env_action_dim,
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}
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kwargs["preprocessor_overrides"] = preprocessor_overrides
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kwargs["postprocessor_overrides"] = postprocessor_overrides
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return (
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PolicyProcessorPipeline.from_pretrained(
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pretrained_model_name_or_path=pretrained_path,
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config_filename=kwargs.get(
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"preprocessor_config_filename", f"{POLICY_PREPROCESSOR_DEFAULT_NAME}.json"
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),
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overrides=kwargs.get("preprocessor_overrides", {}),
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to_transition=batch_to_transition,
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to_output=transition_to_batch,
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),
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PolicyProcessorPipeline.from_pretrained(
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pretrained_model_name_or_path=pretrained_path,
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config_filename=kwargs.get(
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"postprocessor_config_filename", f"{POLICY_POSTPROCESSOR_DEFAULT_NAME}.json"
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),
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overrides=kwargs.get("postprocessor_overrides", {}),
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to_transition=policy_action_to_transition,
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to_output=transition_to_policy_action,
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),
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)
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# Create a new processor based on policy type
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if isinstance(policy_cfg, TDMPCConfig):
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from lerobot.policies.tdmpc.processor_tdmpc import make_tdmpc_pre_post_processors
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processors = make_tdmpc_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, DiffusionConfig):
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from lerobot.policies.diffusion.processor_diffusion import make_diffusion_pre_post_processors
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processors = make_diffusion_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, ACTConfig):
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from lerobot.policies.act.processor_act import make_act_pre_post_processors
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processors = make_act_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, VQBeTConfig):
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from lerobot.policies.vqbet.processor_vqbet import make_vqbet_pre_post_processors
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processors = make_vqbet_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, PI0Config):
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from lerobot.policies.pi0.processor_pi0 import make_pi0_pre_post_processors
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processors = make_pi0_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, PI05Config):
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from lerobot.policies.pi05.processor_pi05 import make_pi05_pre_post_processors
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processors = make_pi05_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, SACConfig):
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from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
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processors = make_sac_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, RewardClassifierConfig):
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from lerobot.policies.sac.reward_model.processor_classifier import make_classifier_processor
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processors = make_classifier_processor(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, SmolVLAConfig):
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from lerobot.policies.smolvla.processor_smolvla import make_smolvla_pre_post_processors
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processors = make_smolvla_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, SARMConfig):
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from lerobot.policies.sarm.processor_sarm import make_sarm_pre_post_processors
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processors = make_sarm_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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dataset_meta=kwargs.get("dataset_meta"),
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)
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elif isinstance(policy_cfg, GrootConfig):
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from lerobot.policies.groot.processor_groot import make_groot_pre_post_processors
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processors = make_groot_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, XVLAConfig):
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from lerobot.policies.xvla.processor_xvla import (
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make_xvla_pre_post_processors,
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)
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processors = make_xvla_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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elif isinstance(policy_cfg, WallXConfig):
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from lerobot.policies.wall_x.processor_wall_x import make_wall_x_pre_post_processors
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processors = make_wall_x_pre_post_processors(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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else:
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try:
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processors = _make_processors_from_policy_config(
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config=policy_cfg,
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dataset_stats=kwargs.get("dataset_stats"),
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)
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except Exception as e:
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raise ValueError(f"Processor for policy type '{policy_cfg.type}' is not implemented.") from e
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return processors
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def make_policy(
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cfg: PreTrainedConfig,
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ds_meta: LeRobotDatasetMetadata | None = None,
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env_cfg: EnvConfig | None = None,
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rename_map: dict[str, str] | None = None,
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) -> PreTrainedPolicy:
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"""
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Instantiate a policy model.
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This factory function handles the logic of creating a policy, which requires
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determining the input and output feature shapes. These shapes can be derived
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either from a `LeRobotDatasetMetadata` object or an `EnvConfig` object. The function
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can either initialize a new policy from scratch or load a pretrained one.
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Args:
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cfg: The configuration for the policy to be created. If `cfg.pretrained_path` is
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set, the policy will be loaded with weights from that path.
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ds_meta: Dataset metadata used to infer feature shapes and types. Also provides
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statistics for normalization layers.
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env_cfg: Environment configuration used to infer feature shapes and types.
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One of `ds_meta` or `env_cfg` must be provided.
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rename_map: Optional mapping of dataset or environment feature keys to match
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expected policy feature names (e.g., `"left"` → `"camera1"`).
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Returns:
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An instantiated and device-placed policy model.
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Raises:
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ValueError: If both or neither of `ds_meta` and `env_cfg` are provided.
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NotImplementedError: If attempting to use an unsupported policy-backend
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combination (e.g., VQBeT with 'mps').
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"""
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if bool(ds_meta) == bool(env_cfg):
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raise ValueError("Either one of a dataset metadata or a sim env must be provided.")
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# NOTE: Currently, if you try to run vqbet with mps backend, you'll get this error.
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# TODO(aliberts, rcadene): Implement a check_backend_compatibility in policies?
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# NotImplementedError: The operator 'aten::unique_dim' is not currently implemented for the MPS device. If
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# you want this op to be added in priority during the prototype phase of this feature, please comment on
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# https://github.com/pytorch/pytorch/issues/77764. As a temporary fix, you can set the environment
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# variable `PYTORCH_ENABLE_MPS_FALLBACK=1` to use the CPU as a fallback for this op. WARNING: this will be
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# slower than running natively on MPS.
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if cfg.type == "vqbet" and cfg.device == "mps":
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raise NotImplementedError(
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"Current implementation of VQBeT does not support `mps` backend. "
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"Please use `cpu` or `cuda` backend."
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)
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policy_cls = get_policy_class(cfg.type)
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kwargs = {}
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if ds_meta is not None:
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features = dataset_to_policy_features(ds_meta.features)
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else:
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if not cfg.pretrained_path:
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logging.warning(
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"You are instantiating a policy from scratch and its features are parsed from an environment "
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"rather than a dataset. Normalization modules inside the policy will have infinite values "
|
|
"by default without stats from a dataset."
|
|
)
|
|
if env_cfg is None:
|
|
raise ValueError("env_cfg cannot be None when ds_meta is not provided")
|
|
features = env_to_policy_features(env_cfg)
|
|
|
|
cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
|
|
if not cfg.input_features:
|
|
cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
|
|
kwargs["config"] = cfg
|
|
|
|
# Pass dataset_stats to the policy if available (needed for some policies like SARM)
|
|
if ds_meta is not None and hasattr(ds_meta, "stats"):
|
|
kwargs["dataset_stats"] = ds_meta.stats
|
|
|
|
if ds_meta is not None:
|
|
kwargs["dataset_meta"] = ds_meta
|
|
|
|
if not cfg.pretrained_path and cfg.use_peft:
|
|
raise ValueError(
|
|
"Instantiating a policy with `use_peft=True` without a checkpoint is not supported since that requires "
|
|
"the PEFT config parameters to be set. For training with PEFT, see `lerobot_train.py` on how to do that."
|
|
)
|
|
|
|
if cfg.pretrained_path and not cfg.use_peft:
|
|
# Load a pretrained policy and override the config if needed (for example, if there are inference-time
|
|
# hyperparameters that we want to vary).
|
|
kwargs["pretrained_name_or_path"] = cfg.pretrained_path
|
|
policy = policy_cls.from_pretrained(**kwargs)
|
|
elif cfg.pretrained_path and cfg.use_peft:
|
|
# Load a pretrained PEFT model on top of the policy. The pretrained path points to the folder/repo
|
|
# of the adapter and the adapter's config contains the path to the base policy. So we need the
|
|
# adapter config first, then load the correct policy and then apply PEFT.
|
|
from peft import PeftConfig, PeftModel
|
|
|
|
logging.info("Loading policy's PEFT adapter.")
|
|
|
|
peft_pretrained_path = cfg.pretrained_path
|
|
peft_config = PeftConfig.from_pretrained(peft_pretrained_path)
|
|
|
|
kwargs["pretrained_name_or_path"] = peft_config.base_model_name_or_path
|
|
if not kwargs["pretrained_name_or_path"]:
|
|
# This means that there's a bug or we trained a policy from scratch using PEFT.
|
|
# It is more likely that this is a bug so we'll raise an error.
|
|
raise ValueError(
|
|
"No pretrained model name found in adapter config. Can't instantiate the pre-trained policy on which "
|
|
"the adapter was trained."
|
|
)
|
|
|
|
policy = policy_cls.from_pretrained(**kwargs)
|
|
policy = PeftModel.from_pretrained(policy, peft_pretrained_path, config=peft_config)
|
|
|
|
else:
|
|
# Make a fresh policy.
|
|
policy = policy_cls(**kwargs)
|
|
|
|
policy.to(cfg.device)
|
|
assert isinstance(policy, torch.nn.Module)
|
|
|
|
# policy = torch.compile(policy, mode="reduce-overhead")
|
|
|
|
if not rename_map:
|
|
validate_visual_features_consistency(cfg, features)
|
|
# TODO: (jadechoghari) - add a check_state(cfg, features) and check_action(cfg, features)
|
|
|
|
return policy
|
|
|
|
|
|
def _get_policy_cls_from_policy_name(name: str) -> type[PreTrainedConfig]:
|
|
"""Get policy class from its registered name using dynamic imports.
|
|
|
|
This is used as a helper function to import policies from 3rd party lerobot plugins.
|
|
|
|
Args:
|
|
name: The name of the policy.
|
|
Returns:
|
|
The policy class corresponding to the given name.
|
|
"""
|
|
if name not in PreTrainedConfig.get_known_choices():
|
|
raise ValueError(
|
|
f"Unknown policy name '{name}'. Available policies: {PreTrainedConfig.get_known_choices()}"
|
|
)
|
|
|
|
config_cls = PreTrainedConfig.get_choice_class(name)
|
|
config_cls_name = config_cls.__name__
|
|
|
|
model_name = config_cls_name.removesuffix("Config") # e.g., DiffusionConfig -> Diffusion
|
|
if model_name == config_cls_name:
|
|
raise ValueError(
|
|
f"The config class name '{config_cls_name}' does not follow the expected naming convention."
|
|
f"Make sure it ends with 'Config'!"
|
|
)
|
|
cls_name = model_name + "Policy" # e.g., DiffusionConfig -> DiffusionPolicy
|
|
module_path = config_cls.__module__.replace(
|
|
"configuration_", "modeling_"
|
|
) # e.g., configuration_diffusion -> modeling_diffusion
|
|
|
|
module = importlib.import_module(module_path)
|
|
policy_cls = getattr(module, cls_name)
|
|
return policy_cls
|
|
|
|
|
|
def _make_processors_from_policy_config(
|
|
config: PreTrainedConfig,
|
|
dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
|
|
) -> tuple[Any, Any]:
|
|
"""Create pre- and post-processors from a policy configuration using dynamic imports.
|
|
|
|
This is used as a helper function to import processor factories from 3rd party lerobot plugins.
|
|
|
|
Args:
|
|
config: The policy configuration object.
|
|
dataset_stats: Dataset statistics for normalization.
|
|
Returns:
|
|
A tuple containing the input (pre-processor) and output (post-processor) pipelines.
|
|
"""
|
|
|
|
policy_type = config.type
|
|
function_name = f"make_{policy_type}_pre_post_processors"
|
|
module_path = config.__class__.__module__.replace(
|
|
"configuration_", "processor_"
|
|
) # e.g., configuration_diffusion -> processor_diffusion
|
|
logging.debug(
|
|
f"Instantiating pre/post processors using function '{function_name}' from module '{module_path}'"
|
|
)
|
|
module = importlib.import_module(module_path)
|
|
function = getattr(module, function_name)
|
|
return function(config, dataset_stats=dataset_stats)
|