VersatIL 0.3.0__tar.gz

versatil-0.3.0/.env.example

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+# VersatIL Environment Configuration
+# Copy to .env and customize: cp .env.example .env
+
+# Storage paths
+VERSATIL_CHECKPOINT_DIR=/path/to/checkpoints
+VERSATIL_ZARR_DIR=/path/to/zarr
+VERSATIL_CACHE_DIR=/path/to/cache
+
+# Pretrained models
+VERSATIL_PRETRAINED_DIR=/path/to/pretrained_models
+
+# Raw data paths
+VERSATIL_BOWEL_RETRACTION_DIR=/path/to/bowel_retraction
+VERSATIL_LIBERO_HDF5_DIR=/path/to/libero/datasets
+VERSATIL_LIBERO_LEROBOT_DIR=/path/to/libero_lerobot
+VERSATIL_LIBERO_PLUS_LEROBOT_DIR=/path/to/libero_plus_lerobot
+VERSATIL_METAWORLD_LEROBOT_DIR=/path/to/metaworld_lerobot
+VERSATIL_PUSHT_LEROBOT_DIR=/path/to/pusht_lerobot
+VERSATIL_BLOCK_PUSHING_LEROBOT_DIR=/path/to/block_pushing_lerobot_rel
+VERSATIL_BLOCK_PUSHING_LEROBOT_ABS_DIR=/path/to/block_pushing_lerobot_abs
+VERSATIL_KITCHEN_LEROBOT_DIR=/path/to/kitchen_lerobot
+VERSATIL_MULTIMODAL_PEG_TRANSFER_DIR=/path/to/multimodal_peg_transfer
+VERSATIL_ANT_LEROBOT_DIR=/path/to/ant_lerobot
+VERSATIL_UR3_LEROBOT_DIR=/path/to/ur3_lerobot
+
+# Weights & Biases (optional)
+WANDB_PROJECT=versatil
+WANDB_ENTITY=your-team

versatil-0.3.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+env:
+  CUDA_VISIBLE_DEVICES: ""
+  HF_HOME: ~/.cache/huggingface
+  TORCH_HOME: ~/.cache/torch
+
+jobs:
+  ruff-format:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/ruff-action@v3
+        with:
+          version: "0.15.6"
+          args: format --check src/ tests/
+
+  ruff-lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/ruff-action@v3
+        with:
+          version: "0.15.6"
+          args: check src/ tests/
+
+  tests:
+    runs-on: ubuntu-latest
+    needs: [ruff-format, ruff-lint]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+      - uses: astral-sh/setup-uv@v5
+      - name: Cache HuggingFace models
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/huggingface
+          key: hf-models-${{ hashFiles('pyproject.toml') }}
+          restore-keys: hf-models-
+      - name: Create .env for CI
+        run: |
+          cat > .env << 'EOF'
+          VERSATIL_CACHE_DIR=/tmp/versatil/cache
+          VERSATIL_CHECKPOINT_DIR=/tmp/versatil/checkpoints
+          VERSATIL_ZARR_DIR=/tmp/versatil/zarr
+          VERSATIL_PRETRAINED_DIR=/tmp/versatil/pretrained
+          EOF
+      - name: Install dependencies
+        run: |
+          uv venv .venv
+          source .venv/bin/activate
+          uv pip install --extra-index-url https://download.pytorch.org/whl/cpu torch==2.10.0 torchaudio==2.10.0 torchvision==0.25.0
+          uv sync
+          uv pip install pytest-cov
+      - name: Run unit tests with coverage
+        run: |
+          source .venv/bin/activate
+          python -m pytest tests/ -m "not integration and not slow and not requires_gpu" --cov=versatil --tb=short -q --junitxml=report-unit.xml
+      - name: Run integration tests with coverage
+        run: |
+          source .venv/bin/activate
+          python -m pytest tests/ -m "integration" --cov=versatil --cov-append --cov-fail-under=90 --cov-report=xml:coverage.xml --cov-report=term-missing --tb=short -q --junitxml=report-integration.xml
+      - name: Upload coverage
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage-report
+          path: coverage.xml
+      - name: Upload test reports
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-reports
+          path: |
+            report-unit.xml
+            report-integration.xml
+
+  e2e-tests:
+    runs-on: ubuntu-latest
+    needs: [tests]
+    if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/main')
+    timeout-minutes: 30
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+      - uses: astral-sh/setup-uv@v5
+      - name: Cache HuggingFace models
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/huggingface
+          key: hf-models-${{ hashFiles('pyproject.toml') }}
+          restore-keys: hf-models-
+      - name: Create .env for CI
+        run: |
+          cat > .env << 'EOF'
+          VERSATIL_CACHE_DIR=/tmp/versatil/cache
+          VERSATIL_CHECKPOINT_DIR=/tmp/versatil/checkpoints
+          VERSATIL_ZARR_DIR=/tmp/versatil/zarr
+          VERSATIL_PRETRAINED_DIR=/tmp/versatil/pretrained
+          EOF
+      - name: Install dependencies
+        run: |
+          uv venv .venv
+          source .venv/bin/activate
+          uv pip install --extra-index-url https://download.pytorch.org/whl/cpu torch==2.10.0 torchaudio==2.10.0 torchvision==0.25.0
+          uv sync
+      - name: Run e2e tests
+        run: |
+          source .venv/bin/activate
+          python -m pytest tests/endpoints/test_end_to_end.py -m "slow" --tb=short -q --junitxml=report-e2e.xml
+      - name: Upload test report
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: e2e-test-report
+          path: report-e2e.xml

versatil-0.3.0/.github/workflows/docs.yml

@@ -0,0 +1,45 @@
+name: Deploy Documentation
+
+on:
+  push:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+
+      - name: Install docs dependencies
+        run: pip install mkdocs-material mkdocstrings[python] mkdocs-gen-files mkdocs-literate-nav
+
+      - name: Build documentation
+        run: mkdocs build --strict
+
+      - uses: actions/upload-pages-artifact@v3
+        with:
+          path: site
+
+  deploy:
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - uses: actions/deploy-pages@v4
+        id: deployment

versatil-0.3.0/.github/workflows/publish.yml

@@ -0,0 +1,41 @@
+name: Publish to PyPI
+
+on:
+  push:
+    tags:
+      - "v*.*.*"
+
+permissions:
+  id-token: write
+  contents: read
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+      - name: Install build tools
+        run: pip install build
+      - name: Build package
+        run: python -m build
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/
+
+  publish:
+    runs-on: ubuntu-latest
+    needs: build
+    environment: pypi
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist/
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1

versatil-0.3.0/.gitignore

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+bin
+logs
+wandb
+outputs
+.env
+
+data_local
+.vscode
+_wandb
+.idea/
+
+**/.DS_Store
+
+fuse.cfg
+
+
+*.ai
+
+# Generation results
+results/
+
+ray/auth.json
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+/src/endpoints/custom_configs/*
+a/yaml_configs/custom_configs/*
+
+uv.lock
+.venv*
+
+lightning_logs/
+src/endpoints/local_test/
+research_scripts/
+scripts/

versatil-0.3.0/.gitlab-ci.yml

@@ -0,0 +1,115 @@
+stages:
+  - lint
+  - test
+  - publish
+
+variables:
+  PIP_CACHE_DIR: "$CI_PROJECT_DIR/.cache/pip"
+  HF_HOME: "$CI_PROJECT_DIR/.cache/huggingface"
+  TORCH_HOME: "$CI_PROJECT_DIR/.cache/torch"
+  UV_CACHE_DIR: "$CI_PROJECT_DIR/.cache/uv"
+  CUDA_VISIBLE_DEVICES: ""
+
+# Reusable setup template
+.setup:
+  image: python:3.14
+  before_script:
+    - pip install uv
+    - |
+      cat > .env << 'EOF'
+      VERSATIL_CACHE_DIR=/tmp/versatil/cache
+      VERSATIL_CHECKPOINT_DIR=/tmp/versatil/checkpoints
+      VERSATIL_ZARR_DIR=/tmp/versatil/zarr
+      VERSATIL_PRETRAINED_DIR=/tmp/versatil/pretrained
+      EOF
+    - |
+      if [ ! -x .venv/bin/python ]; then
+        rm -rf .venv
+        uv venv .venv
+        source .venv/bin/activate
+        uv pip install --extra-index-url https://download.pytorch.org/whl/cpu torch==2.10.0 torchaudio==2.10.0 torchvision==0.25.0
+      else
+        source .venv/bin/activate
+      fi
+    - uv sync
+  cache:
+    key: "$CI_COMMIT_REF_SLUG-$CI_COMMIT_SHORT_SHA"
+    paths:
+      - .cache/
+      - .venv/
+
+ruff-format:
+  stage: lint
+  image: python:3.14
+  before_script:
+    - pip install ruff==0.15.6
+  script:
+    - ruff format --check src/ tests/
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
+
+ruff-lint:
+  stage: lint
+  image: python:3.14
+  before_script:
+    - pip install ruff==0.15.6
+  script:
+    - ruff check src/ tests/
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
+
+tests:
+  stage: test
+  extends: .setup
+  script:
+    - uv pip install pytest-cov
+    - python -m pytest tests/ -m "not integration and not slow and not requires_gpu" --cov=versatil --tb=short -q --junitxml=report-unit.xml
+    - python -m pytest tests/ -m "integration" --cov=versatil --cov-append --cov-fail-under=90 --cov-report=xml:coverage.xml --cov-report=term-missing --tb=short -q --junitxml=report-integration.xml
+  coverage: '/(?i)total.*? (100(?:\.0+)?\%|[1-9]?\d(?:\.\d+)?\%)$/'
+  artifacts:
+    when: always
+    reports:
+      junit:
+        - report-unit.xml
+        - report-integration.xml
+      coverage_report:
+        coverage_format: cobertura
+        path: coverage.xml
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
+
+e2e-tests:
+  stage: test
+  extends: .setup
+  timeout: 60 minutes
+  cache:
+    policy: pull
+  script:
+    - python -m pytest tests/endpoints/test_end_to_end.py -m "slow" --tb=short -q --junitxml=report-e2e.xml
+  artifacts:
+    when: always
+    reports:
+      junit: report-e2e.xml
+  rules:
+    - if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
+      when: always
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+      when: manual
+      allow_failure: true
+
+publish-pypi:
+  stage: publish
+  image: python:3.14
+  before_script:
+    - pip install build twine
+  script:
+    - python -m build
+    - twine upload dist/* --non-interactive
+  variables:
+    TWINE_USERNAME: __token__
+    TWINE_PASSWORD: $PYPI_TOKEN
+  rules:
+    - if: $CI_COMMIT_TAG =~ /^v\d+\.\d+\.\d+$/

versatil-0.3.0/.pre-commit-config.yaml

@@ -0,0 +1,9 @@
+repos:
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.15.6
+    hooks:
+      - id: ruff-format
+        types_or: [python, pyi]
+      - id: ruff
+        args: [--fix, --exit-non-zero-on-fix]
+        types_or: [python, pyi]

versatil-0.3.0/CHANGELOG.md

@@ -0,0 +1,132 @@
+# Changelog
+
+All notable changes to VersatIL will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+## [0.3.0] - 2026-05-11
+
+### Added
+- End-to-end experiment config families for PushT, Block Pushing, Kitchen, Multimodal Ant, UR3 Block Push, Multimodal Peg Transfer, and synthetic multimodal benchmarks, including state/RGB variants where supported.
+- LIBERO/LIBERO+ configs for GPT-style action transformers, Pi0/SmolVLA-style VLA policies, and vision/language encoder sweeps.
+- Dataset schema, Zarr metadata, observation/action-space configs, OmegaConf path resolvers, and `.env` variables for the new local/LeRobot-compatible benchmark families.
+- Synthetic multimodal benchmark generation, presets, rollout metrics, and training/evaluation configs for mode-recovery experiments.
+- Variational latent-modeling components for multimodal action distributions: VQ posterior encoder, uniform/learned codebook priors, DiT latent prior configs, conditional MMD losses, and relaxed conditional Sinkhorn/OT losses.
+- Staged training support with epoch-indexed trainability, optimizer, and loss-weight overrides, plus prior-target standardization and richer latent/synthetic rollout callbacks.
+- `Pi0Decoder` and `SmolVLADecoder` factories — interleaved VLM-expert joint attention architectures where a pretrained VLM backbone is paired 1:1 with learned expert layers. Pi0 fuses timestep via MLP, Pi0.5 via adaptive normalization. SmolVLA alternates cross-attention and joint self-attention layers.
+- `GenerativeVLMEncoder` abstract base for single-stream VLMs (embed images → embed text → concat → LM). Thin subclasses: `PaliGemmaEncoder`, `SmolVLMEncoder`. Replaces the monolithic `multimodal/vlm.py`.
+- `TwoTowerVLMEncoder` — CLIP-style separate vision/language towers with `ImageEncoderMixin` + `LanguageEncoderMixin`.
+- `ImageEncoderMixin` — abstract base class for multi-camera dispatch with per-camera feature naming (`rgb:left`, `rgb:right`). Subclassed by `RGBEncoderMixin`, `DepthEncoderMixin`, `RGBDEncoderMixin`.
+- Per-camera image sizes — encoding pipeline sets dimensions from `CameraMetadata` in observation space. `set_image_size()` hook on encoders.
+- `LanguageEncoderMixin` — shared tokenized text pad/truncate, attention mask construction, and output padding mask.
+- `FeatureMetadata` frozen dataclass `(key, feature_type, dimension)` with `FeatureType` enum (SPATIAL, SEQUENTIAL, FLAT). Replaces `EncoderOutput`.
+- `GenerationCache` / `GenerationLayerCache` — append-only cache for autoregressive generation. Grows token-by-token.
+- `ConditioningCache` / `ConditioningLayerCache` — write-once cache for static context (observations, encoder features). Stores K/V and optionally Q for bidirectional conditioning. Cache presence implies behavior — no `use_cache` boolean.
+- Cross-attention caching for diffusion decoders — `DiffusionActionTransformer` precomputes conditioning K/V once and reuses across all denoising steps.
+- Transformer package decomposed into `attention/`, `block/`, `layer/`, `cache/` sub-packages — ~1600 lines of duplicated diffusion transformer internals deleted.
+- `TransformerMixin` — shared weight init, positional encoding setup/application with `offset` for cached generation, padding mask expansion.
+- `BlockNormalization` type (`AdaNorm | UnconditionedNorm`) — uniform `(x, condition) → (normed, gate)` interface. Eliminates conditioning branches in transformer blocks.
+- `GatedLinearUnit` generalizes `SwiGLU` — base class with configurable gate activation, plus `SwiGLU` (SiLU gate) and `GeGLU` (GELU-tanh gate) subclasses.
+- Encoder refactoring — encoders renamed by output format (spatial vs flat), not architecture. `CNNEncoder` + `SwinEncoder` → `SpatialRGBEncoder`, `ViTEncoder` → `FlatRGBEncoder`, `DepthCNNEncoder` → `SpatialDepthEncoder`.
+- New backbones: ConvNeXtV2-Nano, TinyViT-21M, DINOv3-ConvNeXt-Small.
+- `exclude_cls` → `num_prefix_tokens` on `TokenPoolingHead` — handles CLS + register tokens.
+- `ImageProcessor` — per-camera image processing extracted into standalone class (resize, augmentation, normalization).
+- `CallbackProvider` protocol for training callbacks — decoders/algorithms declare their own callbacks; Workspace collects via protocol check instead of `isinstance` chains.
+- `action_execution_horizon` parameter on `InferenceClient` — controls how many actions from each predicted chunk to execute before re-querying. Defaults to `prediction_horizon`.
+- `make_attention_mask` supports `causal_actions` flag and `causal_prefix_suffix_length` for VLA prefix-suffix patterns.
+- LR scheduler now uses HuggingFace `transformers.get_scheduler` with `lr_scheduler_kwargs` passthrough.
+
+### Changed
+- `ActionTransformer` no longer requires spatial features — accepts any feature type.
+- Fusion modules report correct output feature types (SEQUENTIAL when inputs are sequential).
+- `LanguageEncoder` detects CLS token via `AutoTokenizer.cls_token_id` instead of hardcoding.
+- Encoding pipeline YAML defaults cleaned up: removed redundant `_target_`, added missing config group references.
+- `DataLoaderConfig` no longer hardcodes `image_height`/`image_width` — dimensions come from per-camera `CameraMetadata`.
+- `ObservationPreprocessor` uses `ImageProcessor` + `CameraMetadata` instead of raw albumentations transforms.
+- `PolicyLoader` reads precision from checkpoint config instead of requiring a `precision` parameter.
+- `FlowMatchingConfig` adds `reverse_flow_convention` flag.
+- `data/augmentation/` restructured to `data/processing/` — `ActionProcessor` and `TransformBuilder` moved alongside `ImageProcessor`.
+- `depth/dformerv2` and `depth/light_geometric` encoders moved to `cross_modal/rgbd/`.
+- `multimodal/` package renamed by `cross_modal/`, `vlm.py` is now a `vision_language` package.
+- Loss `_target_` paths updated across all YAML configs for metrics package restructure (removed `__init__.py` exports).
+- Diffusion transformer high-level classes (`CrossAttentionDiT`, `MMDiTTransformer`, `DiTBlock`) now delegate to shared `transformer/` blocks and layers
+  instead of maintaining duplicated implementations.
+- All `__init__.py` re-exports removed across transformer, training, and inference packages — consumers import from concrete modules.
+
+### Fixed
+- GPT Action Transformer tokenized head had a 64-dim MLP bottleneck before predicting 1025 vocab classes with weight tying in the same space. Removed bottleneck — direct `embedding_dimension` → vocab projection.
+- `DiTPrior` always targeted noise regardless of `prediction_type` — now branches correctly for epsilon, sample, and velocity.
+- `GaussianPrior` used stale `self.device` after `.to()` — now uses `_device_tracker` buffer.
+- `ConditionalCNNEncoder` pooling head not re-frozen after `set_image_size()` when `frozen=True`.
+- EMA callback `optimization_step` incremented per batch instead of per optimizer step — replaced with `trainer.global_step`.
+- Inference client discarded predicted action chunks — without temporal aggregation, only first action was sent. Now sends `action_execution_horizon` actions per inference call.
+- Post-training compression `validate()` skipped in global mode — iterated empty `self.modules` instead of resolved targets.
+- `DictOfTensorMixin.device` raised `StopIteration` when `params_dict` empty — now uses `_device_tracker` buffer.
+- DataLoader `persistent_workers=True` crashed with `num_workers=0` — now conditionally set.
+- `TemporalAggregator` crashed with `IndexError` when exceeding `max_timesteps` — now raises `RuntimeError`.
+- `TrajectoryLengthLoss` zeroed padded timesteps before computing diffs, creating spurious jumps at boundaries.
+- `TrajectorySmoothness` padding mask only checked `is_pad[:, 2:]` but acceleration depends on 3 positions.
+- `DiscreteDETRActionTransformer` had `requires_actions=True` but ignores actions — changed to `False`.
+- `SmolVLADecoder` missing `proprioceptive_projection = None` init.
+- Phantom batch in metrics accumulator from lazy module init — reset after dummy forward pass.
+- SigLIP2 tokenizer fallback when `attention_mask` not returned.
+
+### Removed
+- Legacy encoder files: `rgb/cnn.py`, `rgb/swin.py`, `rgb/vit.py`, `depth/cnn.py` and their tests — superseded by `SpatialRGBEncoder`, `FlatRGBEncoder`, `SpatialDepthEncoder`.
+
+## [0.2.0] - 2026-04-09
+
+### Fixed
+- `Policy.compute_loss` was comparing network predictions against raw ground-truth actions instead of the algorithm-specific targets (velocity field for flow matching, noise for diffusion epsilon mode). Introduced `DecodingAlgorithm.get_targets()` so each algorithm provides the correct regression target to the loss module.
+- Added `DecodingAlgorithm.predicts_in_action_space` and `BaseLoss.requires_action_space_targets` to detect incompatible loss-algorithm pairings at init.
+
+### Added
+- Post-training compression pipeline (`post_training_compression/` + `quantization/`): `PostTrainingCompressor` orchestrates load → prepare → prune → export → quantize → save. Supports per-module `CompressionTarget`, composable pruning (unstructured + structured), PT2E quantization via `X86InductorBackend`, and quantize_() API for dynamic/weight-only quantization. `CompressedPolicyLoader` loads `.pt2` archives with `torch.compile`.
+- Python 3.14 compatibility patch for torchao `Union.__module__` assignment.
+
+### Changed
+- `inference/__init__.py` and `inference/policy_loading/__init__.py` no longer re-export submodules (prevents circular imports)
+- All consumers import from concrete modules (e.g., `from versatil.inference.policy_loading.float_loader import PolicyLoader`)
+
+## [0.1.1] - 2026-03-20
+
+Migrate to Python 3.13+ and PyTorch 2.10 with CUDA 12.8.
+
+### Changed
+- Minimum Python version raised from 3.11 to 3.13
+- PyTorch upgraded to 2.10 with CUDA 12.8 (was 2.4 with CUDA 12.4)
+- HuggingFace Transformers bumped to 5.x, with compatibility fixes for FAST tokenizer and SigLIP VLM encoder
+- NumPy dependency bumped for Python 3.14 compatibility
+- Ruff target version updated to `py313`
+- `str, enum.Enum` replaced with `enum.StrEnum` (PEP 659, Python 3.11+)
+- `torch.load` now uses `weights_only=False` by default to match PyTorch 2.10 behavior
+- CI/CD Docker image updated to Python 3.14, pipelines now trigger only on merge requests
+
+### Removed
+- `flash-attn` dependency — PyTorch 2.10 SDPA natively dispatches to FlashAttention kernels
+- `FLASH_ATTENTION_2` attention implementation type (replaced by `SDPA`)
+
+### Fixed
+- `asyncio.get_event_loop()` replaced with `asyncio.run()` for Python 3.14 compatibility in WebP codec
+- OpenCV dependency conflict resolved
+- CI/CD pipeline no longer passes silently when unit tests fail
+
+## [0.1.0] - 2026-03-19
+
+Initial release of VersatIL — a modular Imitation Learning framework for robotic manipulation.
+
+### Added
+- Composable policy architecture: Policy = EncodingPipeline + Algorithm + Action Decoder + Loss.
+- Algorithms: Behavioral Cloning, Diffusion, Flow Matching, VariationalAlgorithm (compositional variational inference wrapping any base algorithm).
+- Encoders: RGB/Depth (timm backbones), Conditional CNN (FiLM), DFormerV2, Geometric RGBD, Proprioceptive (MLP), Language (HuggingFace transformers), Vision-Language (HuggingFace multimodal).
+- Fusion modules: Concatenation, MLP, Attention.
+- Decoder factories: ACT, Action Transformer, Conditional Action U-Net, Diffusion Action Transformer (Cross-Attention and MultiModal), Discrete-DETR, DiT-Block, Free Action Transformer, GPT Action Transformer, LACT, MoDE-ACT, MoE Decoder, MoE Free Action Transformer, Phase-ACT.
+- Action heads: Single-Output, Gaussian (mean + log-variance), Mixture of Experts (MoE).
+- Data pipeline: Zarr episodic store, CSV/HDF5/LeRobot raw formats, action/observation processing, image augmentation, normalization, tokenization.
+- Inference: pluggable transport protocol (ZMQ), observation/action preprocessing, temporal aggregation, unified client for simulation and on-hardware.
+- Training: PyTorch Lightning loop, Hydra/OmegaConf configs, WandB tracking, custom callbacks and checkpoint management.
+- Losses: composable system via `nn.Module` composition — regression, classification, KL divergence, Sinkhorn divergence, MMD.
+- CI/CD: GitLab CI and GitHub Actions, unit and integration tests with >90% coverage, Ruff formatting/linting.