opentau 0.1.0__py3-none-any.whl

opentau/policies/pi0/paligemma_with_expert.py

@@ -0,0 +1,516 @@
+# Copyright 2024 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.
+
+"""PaliGemma with Expert Module for PI0.
+
+This module implements the PaliGemma model with an additional expert module,
+specifically designed for the Pi0 policy. It combines a pre-trained PaliGemma
+Vision-Language Model (VLM) with a Gemma-based expert model to handle
+action generation and conditioning.
+"""
+
+import torch
+import torch.version
+from pytest import Cache
+from torch import nn
+from transformers import (
+    AutoConfig,
+    GemmaForCausalLM,
+    PaliGemmaForConditionalGeneration,
+    PretrainedConfig,
+    PreTrainedModel,
+)
+from transformers.models.auto import CONFIG_MAPPING
+
+
+def apply_rope(x: torch.Tensor, positions: torch.Tensor, max_wavelength: int = 10_000) -> torch.Tensor:
+    """Applies RoPE positions to the input tensor.
+
+    Args:
+        x: Input tensor of shape [B, L, H, D].
+        positions: Position tensor of shape [B, L].
+        max_wavelength: Maximum wavelength for RoPE. Defaults to 10_000.
+
+    Returns:
+        Tensor: The input tensor with RoPE applied, of shape [B, L, H, D].
+    """
+    d_half = x.shape[-1] // 2
+    device = x.device
+    dtype = x.dtype
+    x = x.to(torch.float32)
+
+    freq_exponents = (2.0 / x.shape[-1]) * torch.arange(d_half, dtype=torch.float32, device=device)
+    timescale = max_wavelength**freq_exponents
+    radians = positions[..., None].to(torch.float32) / timescale[None, None, :].to(torch.float32)
+
+    radians = radians[..., None, :]
+
+    sin = torch.sin(radians)  # .to(dtype=dtype)
+    cos = torch.cos(radians)  # .to(dtype=dtype)
+
+    x1, x2 = x.split(d_half, dim=-1)
+    res = torch.empty_like(x)
+    res[..., :d_half] = x1 * cos - x2 * sin
+    res[..., d_half:] = x2 * cos + x1 * sin
+
+    return res.to(dtype)
+
+
+class PaliGemmaWithExpertConfig(PretrainedConfig):
+    """Configuration class for PaliGemmaWithExpertModel."""
+
+    model_type = "PaliGemmaWithExpertModel"
+    sub_configs = {"paligemma_config": AutoConfig, "gemma_expert_config": AutoConfig}
+
+    def __init__(
+        self,
+        paligemma_config: dict | None = None,
+        gemma_expert_config: dict | None = None,
+        freeze_vision_encoder: bool = True,
+        train_expert_only: bool = True,
+        attention_implementation: str = "eager",
+        load_pretrained_paligemma: bool = False,
+        dropout: float = 0.1,
+        **kwargs,
+    ):
+        """Initializes the configuration.
+
+        Args:
+            paligemma_config: Configuration dictionary for the PaliGemma model.
+            gemma_expert_config: Configuration dictionary for the Gemma expert model.
+            freeze_vision_encoder: Whether to freeze the vision encoder. Defaults to True.
+            train_expert_only: Whether to train only the expert model. Defaults to True.
+            attention_implementation: Attention implementation to use ("eager" or "fa2"). Defaults to "eager".
+            load_pretrained_paligemma: Whether to load a pretrained PaliGemma model. Defaults to False.
+            dropout: Dropout probability. Defaults to 0.1.
+            **kwargs: Additional keyword arguments passed to PretrainedConfig.
+        """
+        self.freeze_vision_encoder = freeze_vision_encoder
+        self.train_expert_only = train_expert_only
+        self.attention_implementation = attention_implementation
+        self.load_pretrained_paligemma = load_pretrained_paligemma
+        self.dropout = dropout
+
+        if paligemma_config is None:
+            # Default config from Pi0
+            self.paligemma_config = CONFIG_MAPPING["paligemma"](
+                transformers_version="4.48.1",
+                _vocab_size=257152,
+                bos_token_id=2,
+                eos_token_id=1,
+                hidden_size=2048,
+                image_token_index=257152,
+                model_type="paligemma",
+                pad_token_id=0,
+                projection_dim=2048,
+                text_config={
+                    "hidden_activation": "gelu_pytorch_tanh",
+                    "hidden_size": 2048,
+                    "intermediate_size": 16384,
+                    "model_type": "gemma",
+                    "num_attention_heads": 8,
+                    "num_hidden_layers": 18,
+                    "num_image_tokens": 256,
+                    "num_key_value_heads": 1,
+                    "torch_dtype": "float32",
+                    "vocab_size": 257152,
+                },
+                vision_config={
+                    "hidden_size": 1152,
+                    "intermediate_size": 4304,
+                    "model_type": "siglip_vision_model",
+                    "num_attention_heads": 16,
+                    "num_hidden_layers": 27,
+                    "num_image_tokens": 256,
+                    "patch_size": 14,
+                    "projection_dim": 2048,
+                    "projector_hidden_act": "gelu_fast",
+                    "torch_dtype": "float32",
+                    "vision_use_head": False,
+                },
+            )
+        elif isinstance(self.paligemma_config, dict):
+            # Override Pi0 default config for PaliGemma
+            if "model_type" not in gemma_expert_config:
+                paligemma_config["model_type"] = "paligemma"
+
+            cfg_cls = CONFIG_MAPPING[paligemma_config["model_type"]]
+            self.paligemma_config = cfg_cls(**paligemma_config)
+
+        if gemma_expert_config is None:
+            # Default config from Pi0
+            self.gemma_expert_config = CONFIG_MAPPING["gemma"](
+                attention_bias=False,
+                attention_dropout=0.0,
+                bos_token_id=2,
+                eos_token_id=1,
+                head_dim=256,
+                hidden_act="gelu_pytorch_tanh",
+                hidden_activation="gelu_pytorch_tanh",
+                hidden_size=1024,
+                initializer_range=0.02,
+                intermediate_size=4096,
+                max_position_embeddings=8192,
+                model_type="gemma",
+                num_attention_heads=8,
+                num_hidden_layers=18,
+                num_key_value_heads=1,
+                pad_token_id=0,
+                rms_norm_eps=1e-06,
+                rope_theta=10000.0,
+                torch_dtype="float32",
+                transformers_version="4.48.1",
+                use_cache=True,
+                vocab_size=257152,
+            )
+        elif isinstance(self.gemma_expert_config, dict):
+            # Override Pi0 default config for Gemma Expert
+            if "model_type" not in gemma_expert_config:
+                gemma_expert_config["model_type"] = "gemma"
+
+            cfg_cls = CONFIG_MAPPING[paligemma_config["model_type"]]
+            self.gemma_expert_config = cfg_cls(**gemma_expert_config)
+
+        super().__init__(**kwargs)
+
+    def __post_init__(self):
+        """Validates configuration parameters."""
+        super().__post_init__()
+        if self.train_expert_only and not self.freeze_vision_encoder:
+            raise ValueError(
+                "You set `freeze_vision_encoder=False` and `train_expert_only=True` which are not compatible."
+            )
+
+        if self.attention_implementation not in ["eager", "fa2"]:
+            raise ValueError(
+                f"Wrong value provided for `attention_implementation` ({self.attention_implementation}). Expected 'eager' or 'fa2'."
+            )
+
+
+class PaliGemmaWithExpertModel(PreTrainedModel):
+    """PaliGemma model with an additional expert module for action generation."""
+
+    config_class = PaliGemmaWithExpertConfig
+
+    def __init__(self, config: PaliGemmaWithExpertConfig):
+        """Initializes the PaliGemmaWithExpertModel.
+
+        Args:
+            config: Configuration object for the model.
+        """
+        super().__init__(config=config)
+        self.config = config
+
+        if config.load_pretrained_paligemma:
+            self.paligemma = PaliGemmaForConditionalGeneration.from_pretrained("google/paligemma-3b-pt-224")
+        else:
+            self.paligemma = PaliGemmaForConditionalGeneration(config=config.paligemma_config)
+        self.gemma_expert = GemmaForCausalLM(config=config.gemma_expert_config)
+        # Remove unused embed_tokens
+        self.gemma_expert.model.embed_tokens = None
+
+        self.dropout = nn.Dropout(config.dropout)
+
+        self.to_bfloat16_like_physical_intelligence()
+        self.set_requires_grad()
+
+    def set_requires_grad(self) -> None:
+        """Sets the requires_grad attribute for model parameters based on configuration."""
+        if self.config.freeze_vision_encoder:
+            self.paligemma.vision_tower.eval()
+            for params in self.paligemma.vision_tower.parameters():
+                params.requires_grad = False
+
+        if self.config.train_expert_only:
+            self.paligemma.eval()
+            for params in self.paligemma.parameters():
+                params.requires_grad = False
+
+    def train(self, mode: bool = True) -> None:
+        """Sets the module in training mode.
+
+        Args:
+            mode: whether to set training mode (True) or evaluation mode (False). Defaults to True.
+        """
+        super().train(mode)
+
+        if self.config.freeze_vision_encoder:
+            self.paligemma.vision_tower.eval()
+
+        if self.config.train_expert_only:
+            self.paligemma.eval()
+
+    def to_bfloat16_like_physical_intelligence(self) -> None:
+        """Casts specific model components to bfloat16 dtype."""
+        self.paligemma = self.paligemma.to(dtype=torch.bfloat16)
+
+        params_to_change_dtype = [
+            "language_model.model.layers",
+            "gemma_expert.model.layers",
+            "vision_tower",
+            "multi_modal",
+        ]
+        for name, param in self.named_parameters():
+            if any(selector in name for selector in params_to_change_dtype):
+                param.data = param.data.to(dtype=torch.bfloat16)
+
+    def embed_image(self, image: torch.Tensor) -> torch.Tensor:
+        """Computes image embeddings.
+
+        Args:
+            image: Input image tensor.
+
+        Returns:
+            torch.Tensor: Image embeddings.
+        """
+        # Handle different transformers versions
+        if hasattr(self.paligemma, "get_image_features"):
+            return self.paligemma.get_image_features(image)
+        else:
+            return self.paligemma.model.get_image_features(image)
+
+    def embed_language_tokens(self, tokens: torch.Tensor) -> torch.Tensor:
+        """Embeds language tokens.
+
+        Args:
+            tokens: Input token indices.
+
+        Returns:
+            torch.Tensor: Token embeddings.
+        """
+        return self.paligemma.language_model.embed_tokens(tokens)
+
+    # TODO: break down this huge forward into modules or functions
+    def forward(
+        self,
+        attention_mask: torch.Tensor | None = None,
+        position_ids: torch.LongTensor | None = None,
+        past_key_values: list[torch.FloatTensor] | Cache | None = None,
+        inputs_embeds: list[torch.FloatTensor] = None,
+        use_cache: bool | None = None,
+        fill_kv_cache: bool | None = None,
+    ) -> tuple[list[torch.FloatTensor | None], list[torch.FloatTensor] | Cache | None]:
+        """Forward pass of the model.
+
+        Args:
+            attention_mask: Attention mask tensor.
+            position_ids: Position IDs tensor.
+            past_key_values: Past key values for caching.
+            inputs_embeds: List of input embeddings for the different model parts.
+            use_cache: Whether to use KV cache.
+            fill_kv_cache: Whether to fill the KV cache.
+
+        Returns:
+            tuple: A tuple containing:
+                - outputs_embeds: List of output embeddings.
+                - past_key_values: Updated past key values.
+        """
+        models = [self.paligemma.language_model, self.gemma_expert.model]
+
+        for hidden_states in inputs_embeds:
+            # TODO this is very inefficient
+            # dtype is always the same, batch size too (if > 1 len)
+            # device could be trickier in multi gpu edge cases but that's it
+            if hidden_states is None:
+                continue
+            batch_size = hidden_states.shape[0]
+
+        # RMSNorm
+        num_layers = self.paligemma.config.text_config.num_hidden_layers
+        head_dim = self.paligemma.config.text_config.head_dim
+        for layer_idx in range(num_layers):
+            query_states = []
+            key_states = []
+            value_states = []
+            for i, hidden_states in enumerate(inputs_embeds):
+                if hidden_states is None:
+                    continue
+                layer = models[i].layers[layer_idx]
+                # normalizer = torch.tensor(models[i].config.hidden_size**0.5, dtype=hidden_states.dtype)
+                # hidden_states = hidden_states * normalizer
+                hidden_states, _ = layer.input_layernorm(hidden_states)
+
+                input_shape = hidden_states.shape[:-1]
+                hidden_shape = (*input_shape, -1, layer.self_attn.head_dim)
+
+                hidden_states = hidden_states.to(dtype=torch.bfloat16)
+                query_state = layer.self_attn.q_proj(hidden_states).view(hidden_shape)
+                key_state = layer.self_attn.k_proj(hidden_states).view(hidden_shape)
+                value_state = layer.self_attn.v_proj(hidden_states).view(hidden_shape)
+
+                query_states.append(query_state)
+                key_states.append(key_state)
+                value_states.append(value_state)
+
+            # B,L,H,D with L sequence length, H number of heads, D head dim
+            # concatenate on the number of embeddings/tokens
+            query_states = torch.cat(query_states, dim=1)
+            key_states = torch.cat(key_states, dim=1)
+            value_states = torch.cat(value_states, dim=1)
+
+            query_states = apply_rope(query_states, position_ids)
+            key_states = apply_rope(key_states, position_ids)
+
+            if use_cache and past_key_values is None:
+                past_key_values = {}
+
+            if use_cache:
+                if fill_kv_cache:
+                    past_key_values[layer_idx] = {
+                        "key_states": key_states,
+                        "value_states": value_states,
+                    }
+                else:
+                    # TODO here, some optimization can be done - similar to a `StaticCache` we can declare the `max_len` before.
+                    # so we create an empty cache, with just one cuda malloc, and if (in autoregressive case) we reach
+                    # the max len, then we (for instance) double the cache size. This implementation already exists
+                    # in `transformers`. (molbap)
+                    key_states = torch.cat([past_key_values[layer_idx]["key_states"], key_states], dim=1)
+                    value_states = torch.cat(
+                        [past_key_values[layer_idx]["value_states"], value_states], dim=1
+                    )
+
+            attention_interface = self.get_attention_interface()
+            att_output = attention_interface(
+                attention_mask, batch_size, head_dim, query_states, key_states, value_states
+            )
+            att_output = att_output.to(dtype=torch.bfloat16)
+
+            # first part of att_output is prefix (up to sequence length, [:, 0:prefix_seq_len])
+            outputs_embeds = []
+            start = 0
+            for i, hidden_states in enumerate(inputs_embeds):
+                layer = models[i].layers[layer_idx]
+
+                if hidden_states is not None:
+                    end = start + hidden_states.shape[1]
+
+                    if att_output.dtype != layer.self_attn.o_proj.weight.dtype:
+                        att_output = att_output.to(layer.self_attn.o_proj.weight.dtype)
+                    out_emb = layer.self_attn.o_proj(att_output[:, start:end])
+
+                    out_emb = self.dropout(out_emb)
+
+                    # first residual
+                    out_emb += hidden_states
+                    after_first_residual = out_emb.clone()
+
+                    out_emb, _ = layer.post_attention_layernorm(out_emb)
+                    out_emb = layer.mlp(out_emb)
+
+                    out_emb = self.dropout(out_emb)
+
+                    # second residual
+                    out_emb += after_first_residual
+
+                    outputs_embeds.append(out_emb)
+
+                    start = end
+                else:
+                    outputs_embeds.append(None)
+
+            inputs_embeds = outputs_embeds
+
+        # final norm
+        outputs_embeds = []
+        for i, hidden_states in enumerate(inputs_embeds):
+            if hidden_states is not None:
+                out_emb, _ = models[i].norm(hidden_states)
+                outputs_embeds.append(out_emb)
+            else:
+                outputs_embeds.append(None)
+
+        return outputs_embeds, past_key_values
+
+    def get_attention_interface(self):
+        """Returns the attention implementation function based on config.
+
+        Returns:
+            callable: The attention function to use.
+        """
+        return self.eager_attention_forward
+
+    def eager_attention_forward(
+        self,
+        attention_mask: torch.Tensor,
+        batch_size: int,
+        head_dim: int,
+        query_states: torch.Tensor,
+        key_states: torch.Tensor,
+        value_states: torch.Tensor,
+    ) -> torch.Tensor:
+        """Eager attention forward pass using standard matrix multiplications.
+
+        Args:
+            attention_mask: Attention mask tensor.
+            batch_size: Batch size.
+            head_dim: Head dimension.
+            query_states: Query states tensor.
+            key_states: Key states tensor.
+            value_states: Value states tensor.
+
+        Returns:
+            torch.Tensor: Attention output.
+        """
+        num_att_heads = self.config.paligemma_config.text_config.num_attention_heads
+        num_key_value_heads = self.config.paligemma_config.text_config.num_key_value_heads
+        num_key_value_groups = num_att_heads // num_key_value_heads
+
+        # query_states: batch_size, sequence_length, num_att_head, head_dim
+        # key_states: batch_size, sequence_length, num_key_value_head, head_dim
+        # value_states: batch_size, sequence_length, num_key_value_head, head_dim
+        sequence_length = key_states.shape[1]
+
+        key_states = key_states[:, :, :, None, :].expand(
+            batch_size, sequence_length, num_key_value_heads, num_key_value_groups, head_dim
+        )
+        key_states = key_states.reshape(
+            batch_size, sequence_length, num_key_value_heads * num_key_value_groups, head_dim
+        )
+
+        value_states = value_states[:, :, :, None, :].expand(
+            batch_size, sequence_length, num_key_value_heads, num_key_value_groups, head_dim
+        )
+        value_states = value_states.reshape(
+            batch_size, sequence_length, num_key_value_heads * num_key_value_groups, head_dim
+        )
+
+        # Attention here is upcasted to float32 to match the original eager implementation.
+
+        query_states = query_states.to(dtype=torch.float32)
+        key_states = key_states.to(dtype=torch.float32)
+
+        query_states = query_states.transpose(1, 2)
+        key_states = key_states.transpose(1, 2)
+
+        att_weights = torch.matmul(query_states, key_states.transpose(2, 3))
+        att_weights *= head_dim**-0.5
+        big_neg = -2.3819763e38  # See gemma/modules.py
+
+        masked_att_weights = torch.where(attention_mask[:, None, :, :], att_weights, big_neg)
+
+        probs = nn.functional.softmax(masked_att_weights, dim=-1)
+        probs = probs.to(dtype=value_states.dtype)
+
+        # probs: batch_size, num_key_value_head, num_att_head, sequence_length, sequence_length
+        # value_states: batch_size, sequence_length, num_att_heads, head_dim
+
+        att_output = torch.matmul(probs, value_states.permute(0, 2, 1, 3))
+
+        att_output = att_output.permute(0, 2, 1, 3)
+        # we use -1 because sequence length can change
+        att_output = att_output.reshape(batch_size, -1, num_key_value_heads * num_key_value_groups * head_dim)
+
+        return att_output

opentau/policies/pi05/__init__.py

@@ -0,0 +1,20 @@
+# 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.
+"""
+PI05 Policy Module.
+
+This module implements the π05 (Pi05) Vision-Language-Action Flow Model policy,
+designed for general robot control. It includes the policy definition,
+configuration, and model architecture.
+"""