opentau 0.1.0__py3-none-any.whl

opentau/policies/pi0/modeling_pi0.py

@@ -0,0 +1,994 @@
+#!/usr/bin/env python
+
+# Copyright 2025 Physical Intelligence and The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 Tensor Auto Inc. 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.
+
+"""π0: A Vision-Language-Action Flow Model for General Robot Control
+
+[Paper](https://www.physicalintelligence.company/download/pi0.pdf)
+"""
+
+import math
+from collections import deque
+
+import torch
+import torch.nn.functional as F  # noqa: N812
+from torch import Tensor, nn
+from transformers import AutoTokenizer
+
+from opentau.policies.normalize import Normalize, Unnormalize
+from opentau.policies.pi0.configuration_pi0 import PI0Config
+from opentau.policies.pi0.paligemma_with_expert import (
+    PaliGemmaWithExpertConfig,
+    PaliGemmaWithExpertModel,
+)
+from opentau.policies.pretrained import PreTrainedPolicy
+from opentau.policies.utils import log_model_loading_keys
+from opentau.utils.utils import get_safe_dtype
+
+
+def create_sinusoidal_pos_embedding(
+    time: Tensor, dimension: int, min_period: float, max_period: float, device: torch.device | str = "cpu"
+) -> Tensor:
+    """Computes sine-cosine positional embedding vectors for scalar positions.
+
+    Args:
+        time: A 1-D tensor of shape (batch_size,).
+        dimension: The dimension of the embedding vectors. Must be divisible by 2.
+        min_period: The minimum period of the sinusoidal functions.
+        max_period: The maximum period of the sinusoidal functions.
+        device: The device to create the tensors on. Defaults to "cpu".
+
+    Returns:
+        A tensor of shape (batch_size, dimension) containing the positional embeddings.
+
+    Raises:
+        ValueError: If dimension is not divisible by 2 or if time tensor is not 1-D.
+    """
+    if dimension % 2 != 0:
+        raise ValueError(f"dimension ({dimension}) must be divisible by 2")
+
+    if time.ndim != 1:
+        raise ValueError("The time tensor is expected to be of shape `(batch_size, )`.")
+
+    dtype = (
+        get_safe_dtype(torch.float64, device.type)
+        if isinstance(device, torch.device)
+        else get_safe_dtype(torch.float64, device)
+    )
+    fraction = torch.linspace(0.0, 1.0, dimension // 2, dtype=dtype, device=device)
+    period = min_period * (max_period / min_period) ** fraction
+
+    # Compute the outer product
+    scaling_factor = 1.0 / period * 2 * math.pi
+    sin_input = scaling_factor[None, :] * time[:, None]
+    pos_emb = torch.cat([torch.sin(sin_input), torch.cos(sin_input)], dim=1)
+    return pos_emb
+
+
+def make_att_2d_masks(pad_masks: Tensor, att_masks: Tensor) -> Tensor:
+    """Creates a 2-D attention mask given padding and 1-D attention masks.
+
+    Tokens can attend to valid inputs tokens which have a cumulative mask_ar
+    smaller or equal to theirs. This way `mask_ar` int[B, N] can be used to
+    setup several types of attention, for example:
+
+      [[1 1 1 1 1 1]]: pure causal attention.
+
+      [[0 0 0 1 1 1]]: prefix-lm attention. The first 3 tokens can attend between
+          themselves and the last 3 tokens have a causal attention. The first
+          entry could also be a 1 without changing behaviour.
+
+      [[1 0 1 0 1 0 0 1 0 0]]: causal attention between 4 blocks. Tokens of a
+          block can attend all previous blocks and all tokens on the same block.
+
+    Args:
+        pad_masks: bool[B, N] true if its part of the input, false if padding.
+        att_masks: int32[B, N] mask that's 1 where previous tokens cannot depend on
+            it and 0 where it shares the same attention mask as the previous token.
+
+    Returns:
+        A 2D attention mask tensor of shape (B, N, N).
+
+    Raises:
+        ValueError: If att_masks or pad_masks are not 2D.
+    """
+    if att_masks.ndim != 2:
+        raise ValueError(att_masks.ndim)
+    if pad_masks.ndim != 2:
+        raise ValueError(pad_masks.ndim)
+
+    cumsum = torch.cumsum(att_masks, dim=1)
+    att_2d_masks = cumsum[:, None, :] <= cumsum[:, :, None]
+    pad_2d_masks = pad_masks[:, None, :] * pad_masks[:, :, None]
+    att_2d_masks = att_2d_masks & pad_2d_masks
+    return att_2d_masks
+
+
+def resize_with_pad(img: Tensor, width: int, height: int, pad_value: int = -1) -> Tensor:
+    """Resizes an image to fit within the specified dimensions while maintaining aspect ratio,
+    and pads the remaining area with the specified value.
+
+    Args:
+        img: Input image tensor of shape (batch_size, channels, current_height, current_width).
+        width: Target width.
+        height: Target height.
+        pad_value: Value to use for padding. Defaults to -1.
+
+    Returns:
+        The resized and padded image tensor of shape (batch_size, channels, height, width).
+
+    Raises:
+        ValueError: If the input image tensor does not have 4 dimensions.
+    """
+    # assume no-op when width height fits already
+    if img.ndim != 4:
+        raise ValueError(f"(b,c,h,w) expected, but {img.shape}")
+
+    cur_height, cur_width = img.shape[2:]
+
+    ratio = max(cur_width / width, cur_height / height)
+    resized_height = int(cur_height / ratio)
+    resized_width = int(cur_width / ratio)
+    resized_img = F.interpolate(
+        img, size=(resized_height, resized_width), mode="bilinear", align_corners=False
+    )
+
+    pad_height = max(0, int(height - resized_height))
+    pad_width = max(0, int(width - resized_width))
+
+    # pad on left and top of image
+    padded_img = F.pad(resized_img, (pad_width, 0, pad_height, 0), value=pad_value)
+    return padded_img
+
+
+def pad_vector(vector: Tensor, new_dim: int) -> Tensor:
+    """Pads the last dimension of a vector to a new size with zeros.
+
+    Args:
+        vector: Input tensor. Can be (batch_size x sequence_length x features_dimension)
+            or (batch_size x features_dimension).
+        new_dim: The new size for the last dimension.
+
+    Returns:
+        The padded tensor.
+    """
+    if vector.shape[-1] == new_dim:
+        return vector
+    shape = list(vector.shape)
+    current_dim = shape[-1]
+    shape[-1] = new_dim
+    new_vector = torch.zeros(*shape, dtype=vector.dtype, device=vector.device)
+    new_vector[..., :current_dim] = vector
+    return new_vector
+
+
+class PI0Policy(PreTrainedPolicy):
+    """Wrapper class around PI0FlowMatching model to train and run inference within OpenTau."""
+
+    config_class = PI0Config
+    name = "pi0"
+
+    def __init__(
+        self,
+        config: PI0Config,
+        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
+    ):
+        """Initializes the PI0Policy.
+
+        Args:
+            config: Policy configuration class instance.
+            dataset_stats: Dataset statistics to be used for normalization. If not passed here, it is expected
+                that they will be passed with a call to `load_state_dict` before the policy is used.
+        """
+
+        super().__init__(config)
+        config.validate_features()
+        self.config = config
+        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
+        self.normalize_targets = Normalize(
+            config.output_features, config.normalization_mapping, dataset_stats
+        )
+        self.unnormalize_outputs = Unnormalize(
+            config.output_features, config.normalization_mapping, dataset_stats
+        )
+
+        self.language_tokenizer = AutoTokenizer.from_pretrained("google/paligemma-3b-pt-224")
+        self.model = PI0FlowMatching(config)
+
+        self.reset()
+
+    def reset(self) -> None:
+        """This should be called whenever the environment is reset."""
+        self._action_queue = deque([], maxlen=self.config.n_action_steps)
+
+    @classmethod
+    def _transform_state_dict_keys(cls, state_dict: dict) -> dict:
+        """
+        Transform state dict keys to match expected model structure.
+
+        Transformations:
+        - model.paligemma_with_expert.paligemma.language_model.lm_head ->
+          model.paligemma_with_expert.paligemma.lm_head
+        - model.paligemma_with_expert.paligemma.language_model.model ->
+          model.paligemma_with_expert.paligemma.model.language_model
+        - model.paligemma_with_expert.paligemma.vision_tower ->
+          model.paligemma_with_expert.paligemma.model.vision_tower
+        - model.paligemma_with_expert.paligemma.multi_modal_projector ->
+          model.paligemma_with_expert.paligemma.model.multi_modal_projector
+
+        Also handles tied weights between lm_head.weight and
+        embed_tokens.weight.
+
+        Args:
+            state_dict: The state dictionary to transform.
+
+        Returns:
+            The transformed state dictionary.
+        """
+        import re
+
+        transformed_dict = {}
+
+        transformations = [
+            (
+                re.compile(r"\.paligemma_with_expert\.paligemma\.language_model\.lm_head"),
+                ".paligemma_with_expert.paligemma.lm_head",
+            ),
+            (
+                re.compile(r"\.paligemma_with_expert\.paligemma\.language_model\.model"),
+                ".paligemma_with_expert.paligemma.model.language_model",
+            ),
+            (
+                re.compile(r"\.paligemma_with_expert\.paligemma\.vision_tower"),
+                ".paligemma_with_expert.paligemma.model.vision_tower",
+            ),
+            (
+                re.compile(r"\.paligemma_with_expert\.paligemma\.multi_modal_projector"),
+                ".paligemma_with_expert.paligemma.model.multi_modal_projector",
+            ),
+        ]
+
+        for key, value in state_dict.items():
+            new_key = key
+            for pattern, replacement in transformations:
+                new_key = pattern.sub(replacement, new_key)
+            transformed_dict[new_key] = value
+
+        # Handle tied weights: lm_head.weight and embed_tokens.weight share memory
+        lm_head_key = None
+        embed_tokens_key = None
+
+        for key in transformed_dict:
+            if key.endswith(".paligemma_with_expert.paligemma.lm_head.weight"):
+                lm_head_key = key
+            elif key.endswith(".paligemma_with_expert.paligemma.model.language_model.embed_tokens.weight"):
+                embed_tokens_key = key
+            if lm_head_key and embed_tokens_key:
+                break
+
+        if lm_head_key and not embed_tokens_key:
+            embed_tokens_key = lm_head_key.replace(
+                ".lm_head.weight", ".model.language_model.embed_tokens.weight"
+            )
+            transformed_dict[embed_tokens_key] = transformed_dict[lm_head_key]
+        elif embed_tokens_key and not lm_head_key:
+            lm_head_key = embed_tokens_key.replace(
+                ".model.language_model.embed_tokens.weight", ".lm_head.weight"
+            )
+            transformed_dict[lm_head_key] = transformed_dict[embed_tokens_key]
+
+        return transformed_dict
+
+    @classmethod
+    def _load_as_safetensor(
+        cls, model: "PI0Policy", model_file: str, map_location: str, strict: bool
+    ) -> "PI0Policy":
+        """Override to apply key transformations before loading.
+
+        Args:
+            model: The model instance.
+            model_file: Path to the model file.
+            map_location: Device mapping location.
+            strict: Whether to strictly enforce state dict matching.
+
+        Returns:
+            The loaded model instance.
+        """
+        from safetensors.torch import load_file
+
+        # Load the state dict from file safely
+        state_dict = load_file(model_file, device=map_location)
+
+        # Apply key transformations
+        transformed_state_dict = cls._transform_state_dict_keys(state_dict)
+
+        # Apply tiling of linear input weights if needed
+        model._tile_linear_input_weight(transformed_state_dict)
+
+        # Load the transformed state dict
+        msg = model.load_state_dict(transformed_state_dict, strict=strict)
+
+        # Log message
+        log_model_loading_keys(msg.missing_keys, msg.unexpected_keys)
+        return model
+
+    def get_optim_params(self) -> dict:
+        """Returns the parameters to be optimized.
+
+        Returns:
+            A generator over the model parameters.
+        """
+        return self.parameters()
+
+    @classmethod
+    def from_pretrained(cls, *args, **kwargs):
+        """Override the from_pretrained method to display important disclaimer.
+
+        Args:
+            *args: Positional arguments passed to super().from_pretrained.
+            **kwargs: Keyword arguments passed to super().from_pretrained.
+
+        Returns:
+            The loaded model instance.
+        """
+        print(
+            "⚠️  DISCLAIMER: The PI0 model is ported from JAX by the Hugging Face team. \n"
+            "   It is not expected to perform as well as the original implementation. \n"
+            "   Original implementation: https://github.com/Physical-Intelligence/openpi"
+        )
+        return super().from_pretrained(*args, **kwargs)
+
+    @torch.no_grad()
+    def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
+        """Predict a chunk of actions given environment observations.
+
+        Args:
+            batch: Batch of data containing environment observations.
+
+        Returns:
+            The predicted action chunk.
+
+        Raises:
+            NotImplementedError: Always, as this method is not implemented for PI0.
+        """
+        raise NotImplementedError("Currently not implemented for PI0")
+
+    @torch.no_grad()
+    def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+        """Select a single action given environment observations.
+
+        This method wraps `select_actions` in order to return one action at a time for execution in the
+        environment. It works by managing the actions in a queue and only calling `select_actions` when the
+        queue is empty.
+
+        Args:
+            batch: Batch of data containing environment observations.
+            noise: Optional noise tensor to be used during sampling.
+
+        Returns:
+            The selected action tensor.
+        """
+        self.eval()
+
+        # Action queue logic for n_action_steps > 1. When the action_queue is depleted, populate it by
+        # querying the policy.
+        if len(self._action_queue) <= self.config.safety_buffer:
+            actions = self.sample_actions(batch, noise=noise)
+            self._action_queue.extend(actions)
+        return self._action_queue.popleft()
+
+    @torch.no_grad()
+    def sample_actions(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+        """Sample actions from the policy given environment observations.
+
+        Args:
+            batch: Batch of data containing environment observations.
+            noise: Optional noise tensor.
+
+        Returns:
+            The sampled actions tensor of shape (batch_size, action_dim).
+        """
+        batch = self.normalize_inputs(batch)
+
+        images, img_masks = self.prepare_images(batch)
+        lang_tokens, lang_masks = self.prepare_language(batch)
+
+        state = batch["state"]
+        actions = self.model.sample_actions(
+            images,
+            img_masks,
+            lang_tokens,
+            lang_masks,
+            state,
+            noise=noise,
+        )
+
+        # Unpad actions
+        original_action_dim = self.config.action_feature.shape[0]
+        actions = actions[:, :, :original_action_dim]
+
+        actions = self.unnormalize_outputs({"actions": actions})["actions"]
+
+        # `self.model.forward` returns a (batch_size, n_action_steps, action_dim) tensor, but the queue
+        # effectively has shape (n_action_steps, batch_size, *), hence the transpose.
+        actions = actions.transpose(0, 1)
+        return actions
+
+    def forward(
+        self, batch: dict[str, Tensor], noise: Tensor | None = None, time: Tensor | None = None
+    ) -> dict[str, Tensor]:
+        """Do a full training forward pass to compute the loss.
+
+        Args:
+            batch: Batch of data containing environment observations, actions, and targets.
+            noise: Optional noise tensor.
+            time: Optional time tensor.
+
+        Returns:
+            A dictionary containing the loss components ("MSE" and "CE").
+        """
+        batch = self.normalize_inputs(batch)
+        batch = self.normalize_targets(batch)
+
+        images, img_masks = self.prepare_images(batch)
+        state = batch["state"]
+        lang_tokens, lang_masks = self.prepare_language(batch)
+        actions = batch["actions"]
+        actions_is_pad = batch.get("action_is_pad")
+
+        losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)
+
+        if actions_is_pad is not None:
+            in_episode_bound = ~actions_is_pad
+            losses = losses * in_episode_bound.unsqueeze(-1)
+
+        # Remove padding
+        losses = losses[:, :, : self.config.max_action_dim]
+
+        # For backward pass
+        loss = losses.mean()
+
+        return {"MSE": loss, "CE": torch.zeros_like(loss, requires_grad=True)}
+
+    def prepare_images(self, batch: dict[str, Tensor]) -> tuple[list[Tensor], list[Tensor]]:
+        """Apply Pi0 preprocessing to the images.
+
+        Resizes to 224x224 and padding to keep aspect ratio, and converts pixel range
+        from [0.0, 1.0] to [-1.0, 1.0] as requested by SigLIP.
+
+        Args:
+            batch: Batch of data containing image tensors.
+
+        Returns:
+            A tuple containing:
+                - images: A list of processed image tensors.
+                - img_masks: A list of image mask tensors.
+
+        Raises:
+            ValueError: If no image features are present in the batch.
+        """
+        images = []
+        img_masks = []
+
+        present_img_keys = [key for key in self.config.image_features if key in batch]
+        missing_img_keys = [key for key in self.config.image_features if key not in batch]
+
+        if len(present_img_keys) == 0:
+            raise ValueError(
+                f"All image features are missing from the batch. At least one expected. (batch: {batch.keys()}) (image_features:{self.config.image_features})"
+            )
+
+        # Preprocess image features present in the batch
+        for key in present_img_keys:
+            img = batch[key]
+
+            if self.config.resize_imgs_with_padding is not None:
+                img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0)
+
+            # Normalize from range [0,1] to [-1,1] as expected by siglip
+            img = img * 2.0 - 1.0
+
+            bsize = img.shape[0]
+            device = img.device
+            mask = torch.ones(bsize, dtype=torch.bool, device=device)
+            images.append(img)
+            img_masks.append(mask)
+
+        # Create image features not present in the batch
+        # as fully 0 padded images.
+        for num_empty_cameras in range(len(missing_img_keys)):
+            if num_empty_cameras >= self.config.empty_cameras:
+                break
+            img = torch.ones_like(img) * -1
+            mask = torch.zeros_like(mask)
+            images.append(img)
+            img_masks.append(mask)
+
+        return images, img_masks
+
+    def prepare_language(self, batch: dict[str, Tensor]) -> tuple[Tensor, Tensor]:
+        """Tokenize the text input.
+
+        Args:
+            batch: Batch of data containing "prompt" and potentially "advantage".
+
+        Returns:
+            A tuple containing:
+                - lang_tokens: Tensor of language tokens.
+                - lang_masks: Tensor of language attention masks.
+        """
+        device = batch["state"].device
+        tasks = batch["prompt"]
+
+        # PaliGemma prompt has to end with a new line
+        tasks = [task if task.endswith("\n") else f"{task}\n" for task in tasks]
+
+        for idx, task in enumerate(tasks):
+            if self.config.advantage == "on":  # always add positive advantage
+                tasks[idx] = f"{task}Advantage: positive\n"
+            elif self.config.advantage == "use":  # add advantage based on threshold
+                adv = batch["advantage"][idx] >= self.config.advantage_threshold
+                adv = "positive" if adv else "negative"
+                tasks[idx] = f"{task}Advantage: {adv}\n"
+
+        tokenized_prompt = self.language_tokenizer.__call__(
+            tasks,
+            padding="max_length",
+            padding_side="right",
+            max_length=self.config.tokenizer_max_length,
+            return_tensors="pt",
+        )
+        lang_tokens = tokenized_prompt["input_ids"].to(device=device)
+        lang_masks = tokenized_prompt["attention_mask"].to(device=device, dtype=torch.bool)
+
+        return lang_tokens, lang_masks
+
+
+class PI0FlowMatching(nn.Module):
+    """
+    π0: A Vision-Language-Action Flow Model for General Robot Control
+
+    [Paper](https://www.physicalintelligence.company/download/pi0.pdf)
+
+    ┌──────────────────────────────┐
+    │               actions        │
+    │               ▲              │
+    │              ┌┴─────┐        │
+    │  kv cache    │Gemma │        │
+    │  ┌──────────►│Expert│        │
+    │  │           │      │        │
+    │ ┌┴────────┐  │x 10  │        │
+    │ │         │  └▲──▲──┘        │
+    │ │PaliGemma│   │  │           │
+    │ │         │   │  robot state │
+    │ │         │   noise          │
+    │ └▲──▲─────┘                  │
+    │  │  │                        │
+    │  │  image(s)                 │
+    │  language tokens             │
+    └──────────────────────────────┘
+    """
+
+    def __init__(self, config: PI0Config):
+        """Initializes the PI0FlowMatching model.
+
+        Args:
+            config: Model configuration.
+        """
+        super().__init__()
+        self.config = config
+
+        load_pretrained_paligemma = (
+            self.config.init_strategy == "expert_only_he_init"
+        )  # only load pretrained paligemma if we are He-initializing the expert only
+        paligemma_with_export_config = PaliGemmaWithExpertConfig(
+            freeze_vision_encoder=self.config.freeze_vision_encoder,
+            train_expert_only=self.config.train_expert_only,
+            attention_implementation=self.config.attention_implementation,
+            load_pretrained_paligemma=load_pretrained_paligemma,
+            dropout=self.config.dropout,
+        )
+        self.paligemma_with_expert = PaliGemmaWithExpertModel(paligemma_with_export_config)
+
+        # Projections are float32
+        self.state_proj = nn.Linear(self.config.max_state_dim, self.config.proj_width)
+        self.action_in_proj = nn.Linear(self.config.max_action_dim, self.config.proj_width)
+        self.action_out_proj = nn.Linear(self.config.proj_width, self.config.max_action_dim)
+
+        self.action_time_mlp_in = nn.Linear(self.config.proj_width * 2, self.config.proj_width)
+        self.action_time_mlp_out = nn.Linear(self.config.proj_width, self.config.proj_width)
+
+        self.set_requires_grad()
+
+        self._init_model()
+
+    def set_requires_grad(self) -> None:
+        """Sets the requires_grad attribute for state projection parameters."""
+        for params in self.state_proj.parameters():
+            params.requires_grad = self.config.train_state_proj
+
+    def _init_weights(self, module: nn.Module) -> None:
+        """Initialize weights using He (Kaiming) initialization.
+
+        Args:
+            module: The module to initialize.
+        """
+        if isinstance(module, nn.Linear):
+            nn.init.kaiming_normal_(module.weight, mode="fan_out", nonlinearity="relu")
+            if module.bias is not None:
+                nn.init.zeros_(module.bias)
+        elif isinstance(module, nn.LayerNorm):
+            nn.init.ones_(module.weight)
+            nn.init.zeros_(module.bias)
+
+    def _init_model(self) -> None:
+        """Initialize the model weights based on the configuration."""
+        if self.config.init_strategy == "no_init":
+            return
+        elif self.config.init_strategy == "full_he_init":
+            for m in self.modules():
+                self._init_weights(m)
+        elif self.config.init_strategy == "expert_only_he_init":
+            for m in self.paligemma_with_expert.gemma_expert.modules():
+                self._init_weights(m)
+        else:
+            raise ValueError(f"Invalid init strategy: {self.config.init_strategy}")
+
+    def sample_noise(self, shape: tuple[int, ...], device: torch.device | str) -> Tensor:
+        """Samples Gaussian noise.
+
+        Args:
+            shape: The shape of the noise tensor.
+            device: The device to create the tensor on.
+
+        Returns:
+            A tensor containing the sampled noise.
+        """
+        noise = torch.normal(
+            mean=0.0,
+            std=1.0,
+            size=shape,
+            dtype=torch.float32,
+            device=device,
+        )
+        return noise
+
+    def sample_time(self, bsize: int, device: torch.device | str) -> Tensor:
+        """Samples time steps from a Beta distribution.
+
+        Args:
+            bsize: Batch size.
+            device: The device to create the tensor on.
+
+        Returns:
+            A tensor containing the sampled time steps.
+        """
+        beta_dist = torch.distributions.Beta(concentration1=1.5, concentration0=1.0)
+        time_beta = beta_dist.sample((bsize,)).to(device=device, dtype=torch.float32)
+        time = time_beta * 0.999 + 0.001
+        return time
+
+    def embed_prefix(
+        self,
+        images: list[Tensor],
+        img_masks: list[Tensor],
+        lang_tokens: Tensor,
+        lang_masks: Tensor,
+    ) -> tuple[Tensor, Tensor, Tensor]:
+        """Embed images with SigLIP and language tokens with embedding layer to prepare
+        for PaliGemma transformer processing.
+
+        Args:
+            images: List of image tensors.
+            img_masks: List of image mask tensors.
+            lang_tokens: Language token tensor.
+            lang_masks: Language mask tensor.
+
+        Returns:
+            A tuple containing:
+                - embs: Concatenated embeddings tensor.
+                - pad_masks: Concatenated padding masks tensor.
+                - att_masks: Attention masks tensor.
+        """
+        # TODO: avoid list in python and torch.cat ; prefer pre-allocation with torch.empty
+        embs = []
+        pad_masks = []
+        att_masks = []
+
+        # TODO: remove for loop
+        for (
+            img,
+            img_mask,
+        ) in zip(images, img_masks, strict=False):
+            img_emb = self.paligemma_with_expert.embed_image(img)
+            img_emb = img_emb.to(dtype=torch.bfloat16)
+
+            # image embeddings don't need to be unnormalized because `fix/lerobot_openpi` branch of huggingface
+            # already removed the normalization inside PaliGemma
+            pass
+
+            bsize, num_img_embs = img_emb.shape[:2]
+            img_mask = img_mask[:, None].expand(bsize, num_img_embs)
+
+            embs.append(img_emb)
+            pad_masks.append(img_mask)
+
+            # Create attention masks so that image tokens attend to each other
+            att_masks += [0] * num_img_embs
+
+        lang_emb = self.paligemma_with_expert.embed_language_tokens(lang_tokens)
+
+        # Normalize language embeddings
+        lang_emb_dim = lang_emb.shape[-1]
+        lang_emb = lang_emb * math.sqrt(lang_emb_dim)
+
+        embs.append(lang_emb)
+        pad_masks.append(lang_masks)
+
+        # full attention between image and language inputs
+        num_lang_embs = lang_emb.shape[1]
+        att_masks += [0] * num_lang_embs
+
+        embs = torch.cat(embs, dim=1)
+        pad_masks = torch.cat(pad_masks, dim=1)
+        att_masks = torch.tensor(att_masks, dtype=torch.bool, device=pad_masks.device)
+        att_masks = att_masks[None, :].expand(bsize, len(att_masks))
+
+        return embs, pad_masks, att_masks
+
+    def embed_suffix(
+        self, state: Tensor, noisy_actions: Tensor, timestep: Tensor
+    ) -> tuple[Tensor, Tensor, Tensor]:
+        """Embed state, noisy_actions, timestep to prepare for Expert Gemma processing.
+
+        Args:
+            state: State tensor.
+            noisy_actions: Tensor containing noisy actions.
+            timestep: Tensor containing timesteps.
+
+        Returns:
+            A tuple containing:
+                - embs: Concatenated embeddings tensor.
+                - pad_masks: Concatenated padding masks tensor.
+                - att_masks: Attention masks tensor.
+        """
+        embs = []
+        pad_masks = []
+        att_masks = []
+
+        # Embed state
+        state_emb = self.state_proj(state)
+        state_emb = state_emb.to(dtype=torch.bfloat16)
+        embs.append(state_emb[:, None, :])
+        bsize = state_emb.shape[0]
+        dtype = state_emb.dtype
+        device = state_emb.device
+
+        state_mask = torch.ones(bsize, 1, dtype=torch.bool, device=device)
+        pad_masks.append(state_mask)
+
+        # Set attention masks so that image and language inputs do not attend to state or actions
+        att_masks += [1]
+
+        # Embed timestep using sine-cosine positional encoding with sensitivity in the range [0, 1]
+        time_emb = create_sinusoidal_pos_embedding(
+            timestep, self.config.proj_width, min_period=4e-3, max_period=4.0, device=device
+        )
+        time_emb = time_emb.type(dtype=dtype)
+
+        # Fuse timestep + action information using an MLP
+        noisy_actions = noisy_actions.to(dtype=dtype)
+        action_emb = self.action_in_proj(noisy_actions)
+
+        time_emb = time_emb[:, None, :].expand_as(action_emb)
+        action_time_emb = torch.cat([action_emb, time_emb], dim=2)
+
+        action_time_emb = self.action_time_mlp_in(action_time_emb)
+        action_time_emb = F.silu(action_time_emb)  # swish == silu
+        action_time_emb = self.action_time_mlp_out(action_time_emb)
+
+        # Add to input tokens
+        embs.append(action_time_emb)
+
+        bsize, action_time_dim = action_time_emb.shape[:2]
+        action_time_mask = torch.ones(bsize, action_time_dim, dtype=torch.bool, device=device)
+        pad_masks.append(action_time_mask)
+
+        # Set attention masks so that image, language and state inputs do not attend to action tokens
+        att_masks += [1] + ([0] * (self.config.n_action_steps - 1))
+
+        embs = torch.cat(embs, dim=1)
+        pad_masks = torch.cat(pad_masks, dim=1)
+        att_masks = torch.tensor(att_masks, dtype=embs.dtype, device=embs.device)
+        att_masks = att_masks[None, :].expand(bsize, len(att_masks))
+
+        return embs, pad_masks, att_masks
+
+    def forward(
+        self,
+        images: list[Tensor],
+        img_masks: list[Tensor],
+        lang_tokens: Tensor,
+        lang_masks: Tensor,
+        state: Tensor,
+        actions: Tensor,
+        noise: Tensor | None = None,
+        time: Tensor | None = None,
+    ) -> Tensor:
+        """Do a full training forward pass and compute the loss (batch_size x num_steps x num_motors).
+
+        Args:
+            images: List of image tensors.
+            img_masks: List of image mask tensors.
+            lang_tokens: Language token tensor.
+            lang_masks: Language mask tensor.
+            state: State tensor.
+            actions: Action tensor.
+            noise: Optional noise tensor.
+            time: Optional time tensor.
+
+        Returns:
+            The computed loss tensor.
+        """
+        if noise is None:
+            noise = self.sample_noise(actions.shape, actions.device)
+
+        if time is None:
+            time = self.sample_time(actions.shape[0], actions.device)
+
+        time_expanded = time[:, None, None]
+        x_t = time_expanded * noise + (1 - time_expanded) * actions
+        u_t = noise - actions
+
+        prefix_embs, prefix_pad_masks, prefix_att_masks = self.embed_prefix(
+            images, img_masks, lang_tokens, lang_masks
+        )
+        suffix_embs, suffix_pad_masks, suffix_att_masks = self.embed_suffix(state, x_t, time)
+
+        pad_masks = torch.cat([prefix_pad_masks, suffix_pad_masks], dim=1)
+        att_masks = torch.cat([prefix_att_masks, suffix_att_masks], dim=1)
+
+        att_2d_masks = make_att_2d_masks(pad_masks, att_masks)
+        position_ids = torch.cumsum(pad_masks, dim=1) - 1
+
+        (_, suffix_out), _ = self.paligemma_with_expert.forward(
+            attention_mask=att_2d_masks,
+            position_ids=position_ids,
+            past_key_values=None,
+            inputs_embeds=[prefix_embs, suffix_embs],
+            use_cache=False,
+            fill_kv_cache=False,
+        )
+        suffix_out = suffix_out[:, -self.config.n_action_steps :]
+        # Original openpi code, upcast attention output
+        v_t = self.action_out_proj(suffix_out)
+        v_t = v_t.to(dtype=torch.float32)
+
+        losses = F.mse_loss(u_t, v_t, reduction="none")
+        return losses
+
+    def sample_actions(
+        self,
+        images: list[Tensor],
+        img_masks: list[Tensor],
+        lang_tokens: Tensor,
+        lang_masks: Tensor,
+        state: Tensor,
+        noise: Tensor | None = None,
+    ) -> Tensor:
+        """Do a full inference forward and compute the action (batch_size x num_steps x num_motors).
+
+        Args:
+            images: List of image tensors.
+            img_masks: List of image mask tensors.
+            lang_tokens: Language token tensor.
+            lang_masks: Language mask tensor.
+            state: State tensor.
+            noise: Optional noise tensor.
+
+        Returns:
+            The sampled action tensor.
+        """
+        bsize = state.shape[0]
+        device = state.device
+
+        if noise is None:
+            actions_shape = (bsize, self.config.n_action_steps, self.config.max_action_dim)
+            noise = self.sample_noise(actions_shape, device)
+
+        prefix_embs, prefix_pad_masks, prefix_att_masks = self.embed_prefix(
+            images, img_masks, lang_tokens, lang_masks
+        )
+        prefix_att_2d_masks = make_att_2d_masks(prefix_pad_masks, prefix_att_masks)
+        prefix_position_ids = torch.cumsum(prefix_pad_masks, dim=1) - 1
+
+        # Compute image and language key value cache
+        _, past_key_values = self.paligemma_with_expert.forward(
+            attention_mask=prefix_att_2d_masks,
+            position_ids=prefix_position_ids,
+            past_key_values=None,
+            inputs_embeds=[prefix_embs, None],
+            use_cache=self.config.use_cache,
+            fill_kv_cache=True,
+        )
+
+        dt = -1.0 / self.config.num_steps
+        dt = torch.tensor(dt, dtype=torch.float32, device=device)
+
+        x_t = noise
+        time = torch.tensor(1.0, dtype=torch.float32, device=device)
+        while time >= -dt / 2:
+            expanded_time = time.expand(bsize)
+            v_t = self.denoise_step(
+                state,
+                prefix_pad_masks,
+                past_key_values,
+                x_t,
+                expanded_time,
+            )
+
+            # Euler step
+            x_t += dt * v_t
+            time += dt
+        return x_t
+
+    def denoise_step(
+        self,
+        state: Tensor,
+        prefix_pad_masks: Tensor,
+        past_key_values: list[dict[str, Tensor]],
+        x_t: Tensor,
+        timestep: Tensor,
+    ) -> Tensor:
+        """Apply one denoising step of the noise `x_t` at a given timestep.
+
+        Args:
+            state: State tensor.
+            prefix_pad_masks: Prefix padding masks.
+            past_key_values: Past key values from the VLM.
+            x_t: Current noise tensor.
+            timestep: Current timestep.
+
+        Returns:
+            The predicted velocity tensor (v_t).
+        """
+        suffix_embs, suffix_pad_masks, suffix_att_masks = self.embed_suffix(state, x_t, timestep)
+
+        suffix_len = suffix_pad_masks.shape[1]
+        batch_size = prefix_pad_masks.shape[0]
+        prefix_len = prefix_pad_masks.shape[1]
+        prefix_pad_2d_masks = prefix_pad_masks[:, None, :].expand(batch_size, suffix_len, prefix_len)
+
+        suffix_att_2d_masks = make_att_2d_masks(suffix_pad_masks, suffix_att_masks)
+
+        full_att_2d_masks = torch.cat([prefix_pad_2d_masks, suffix_att_2d_masks], dim=2)
+
+        prefix_offsets = torch.sum(prefix_pad_masks, dim=-1)[:, None]
+        position_ids = prefix_offsets + torch.cumsum(suffix_pad_masks, dim=1) - 1
+
+        outputs_embeds, _ = self.paligemma_with_expert.forward(
+            attention_mask=full_att_2d_masks,
+            position_ids=position_ids,
+            past_key_values=past_key_values,
+            inputs_embeds=[None, suffix_embs],
+            use_cache=self.config.use_cache,
+            fill_kv_cache=False,
+        )
+        suffix_out = outputs_embeds[1]
+        suffix_out = suffix_out[:, -self.config.n_action_steps :]
+        v_t = self.action_out_proj(suffix_out)
+        v_t = v_t.to(dtype=torch.float32)
+        return v_t