opentau 0.1.0__tar.gz → 0.1.1__tar.gz

{opentau-0.1.0/src/opentau.egg-info → opentau-0.1.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: opentau
-Version: 0.1.0
+Version: 0.1.1
 Summary: OpenTau: Tensor's VLA Training Infrastructure for Real-World Robotics in Pytorch
 Author-email: Shuheng Liu <wish1104@icloud.com>, William Yue <williamyue37@gmail.com>, Akshay Shah <akshayhitendrashah@gmail.com>, Xingrui Gu <xingrui_gu@berkeley.edu>
 License: Apache-2.0
@@ -94,6 +94,9 @@ Requires-Dist: numpy<2; extra == "libero"
 Requires-Dist: gym<0.27,>=0.25; extra == "libero"
 Requires-Dist: pyopengl-accelerate==3.1.7; sys_platform == "linux" and extra == "libero"
 Requires-Dist: gymnasium[other]>=0.29; extra == "libero"
+Requires-Dist: mujoco>=3.1.6; sys_platform == "linux" and extra == "libero"
+Requires-Dist: pyopengl==3.1.7; sys_platform == "linux" and extra == "libero"
+Requires-Dist: numpy==1.26.4; sys_platform == "linux" and extra == "libero"
 Dynamic: license-file
 
 <p align="center">
@@ -134,10 +137,10 @@ OpenTau ($\tau$) is a tool developed by *[Tensor][1]* to bridge this gap, and we
 ## Quick Start
 If you are familiar with LeRobot, getting started with OpenTau is very easy.
 Because OpenTau is a fork of the popular LeRobot repository, any LeRobot-compliant policy and dataset can be used directly with OpenTau.
-Check out our documentation to get started quickly.
-We provide a quick start guide to help you get started with OpenTau.
+Check out our [documentation](https://opentau.readthedocs.io/) to get started quickly.
+We provide a [quick start guide](https://opentau.readthedocs.io/en/latest/getting_started.html) to help you get started with OpenTau.
 
-For using local notebooks to train and evaluate models, find the notebooks at `notebooks/pi05_training.ipynb` and `notebooks/pi05_evaluation_only.ipynb`.
+For using local notebooks to train and evaluate models, find the notebooks at [notebooks/pi05_training.ipynb](https://github.com/TensorAuto/OpenTau/blob/main/notebooks/pi05_training.ipynb) and [notebooks/pi05_evaluation_only.ipynb](https://github.com/TensorAuto/OpenTau/blob/main/notebooks/pi05_evaluation_only.ipynb).
 
 For using the Google Colab notebooks to train and evaluate models, find the colab notebooks here: [pi05_training](https://colab.research.google.com/drive/1DeU0lNnEzs1KHo0Nkgh4YKBr-xu9moBM?usp=sharing) and [pi05_evaluation_only](https://colab.research.google.com/drive/1U_AyuH9WYMT4anEWvsOtIT7g01jA0WGm?usp=sharing) respectively.
 

{opentau-0.1.0 → opentau-0.1.1}/README.md

@@ -36,10 +36,10 @@ OpenTau ($\tau$) is a tool developed by *[Tensor][1]* to bridge this gap, and we
 ## Quick Start
 If you are familiar with LeRobot, getting started with OpenTau is very easy.
 Because OpenTau is a fork of the popular LeRobot repository, any LeRobot-compliant policy and dataset can be used directly with OpenTau.
-Check out our documentation to get started quickly.
-We provide a quick start guide to help you get started with OpenTau.
+Check out our [documentation](https://opentau.readthedocs.io/) to get started quickly.
+We provide a [quick start guide](https://opentau.readthedocs.io/en/latest/getting_started.html) to help you get started with OpenTau.
 
-For using local notebooks to train and evaluate models, find the notebooks at `notebooks/pi05_training.ipynb` and `notebooks/pi05_evaluation_only.ipynb`.
+For using local notebooks to train and evaluate models, find the notebooks at [notebooks/pi05_training.ipynb](https://github.com/TensorAuto/OpenTau/blob/main/notebooks/pi05_training.ipynb) and [notebooks/pi05_evaluation_only.ipynb](https://github.com/TensorAuto/OpenTau/blob/main/notebooks/pi05_evaluation_only.ipynb).
 
 For using the Google Colab notebooks to train and evaluate models, find the colab notebooks here: [pi05_training](https://colab.research.google.com/drive/1DeU0lNnEzs1KHo0Nkgh4YKBr-xu9moBM?usp=sharing) and [pi05_evaluation_only](https://colab.research.google.com/drive/1U_AyuH9WYMT4anEWvsOtIT7g01jA0WGm?usp=sharing) respectively.
 

{opentau-0.1.0 → opentau-0.1.1}/pyproject.toml

@@ -20,7 +20,7 @@ huggingface = "https://huggingface.co/TensorAuto"
 
 [project]
 name = "opentau"
-version = "0.1.0"
+version = "0.1.1"
 description = "OpenTau: Tensor's VLA Training Infrastructure for Real-World Robotics in Pytorch"
 authors = [
     { name = "Shuheng Liu", email = "wish1104@icloud.com" },
@@ -89,7 +89,9 @@ dependencies = [
 ]
 
 [project.scripts]
-opentau-train = "opentau.scripts.launch_train:main"
+opentau-train = "opentau.scripts.launch:train"
+opentau-eval = "opentau.scripts.launch:eval"
+opentau-export = "opentau.scripts.launch:export"
 
 [project.optional-dependencies]
 dev = ["pre-commit>=3.7.0",
@@ -122,6 +124,9 @@ libero = [
     "gym>=0.25,<0.27",
     "pyopengl-accelerate==3.1.7 ; sys_platform == 'linux'",
     "gymnasium[other]>=0.29",
+    "mujoco>=3.1.6 ; sys_platform == 'linux'",
+    "pyopengl==3.1.7 ; sys_platform == 'linux'",
+    "numpy==1.26.4 ; sys_platform == 'linux'",
 ]
 
 [tool.uv.sources]

{opentau-0.1.0 → opentau-0.1.1}/src/opentau/__init__.py

@@ -56,6 +56,7 @@ When implementing a new policy class (e.g., `DiffusionPolicy`), follow these ste
 import itertools
 
 from opentau.__version__ import __version__  # noqa: F401
+from opentau.utils import transformers_patch  # noqa: F401
 
 # TODO(rcadene): Improve policies and envs. As of now, an item in `available_policies`
 # refers to a yaml file AND a modeling name. Same for `available_envs` which refers to

opentau-0.1.1/src/opentau/scripts/launch.py

@@ -0,0 +1,79 @@
+# 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.
+
+import argparse
+import subprocess
+import sys
+from pathlib import Path
+from types import ModuleType
+
+import opentau.scripts.eval as eval_script
+import opentau.scripts.export_to_onnx as export_script
+import opentau.scripts.train as train_script
+
+
+def launch(script_module: ModuleType, description: str, use_accelerate: bool = True):
+    """Generic launcher for OpenTau scripts using Accelerate or Python."""
+    parser = argparse.ArgumentParser(
+        description=description,
+        usage=f"{Path(sys.argv[0]).name} {'[--accelerate-config CONFIG] ' if use_accelerate else ''}[ARGS]",
+    )
+    if use_accelerate:
+        parser.add_argument(
+            "--accelerate-config", type=str, help="Path to accelerate config file (yaml)", default=None
+        )
+
+    # We use parse_known_args so that all other arguments are collected
+    # These will be passed to the target script
+    args, unknown_args = parser.parse_known_args()
+
+    # Base command
+    if use_accelerate:
+        cmd = ["accelerate", "launch"]
+        # Add accelerate config if provided
+        if args.accelerate_config:
+            cmd.extend(["--config_file", args.accelerate_config])
+    else:
+        cmd = [sys.executable]
+
+    # Add the path to the target script
+    # We resolve the path to ensure it's absolute
+    script_path = Path(script_module.__file__).resolve()
+    cmd.append(str(script_path))
+
+    # Add all other arguments (passed to the target script)
+    cmd.extend(unknown_args)
+
+    # Print the command for transparency
+    print(f"Executing: {' '.join(cmd)}")
+
+    # Replace the current process with the accelerate launch command
+    try:
+        subprocess.run(cmd, check=True)
+    except subprocess.CalledProcessError as e:
+        sys.exit(e.returncode)
+    except KeyboardInterrupt:
+        sys.exit(130)
+
+
+def train():
+    launch(train_script, "Launch OpenTau training with Accelerate")
+
+
+def eval():
+    launch(eval_script, "Launch OpenTau evaluation with Accelerate")
+
+
+def export():
+    launch(export_script, "Launch OpenTau ONNX export", use_accelerate=False)

{opentau-0.1.0 → opentau-0.1.1}/src/opentau/scripts/train.py

@@ -73,16 +73,16 @@ def update_policy(
         train_config.loss_weighting["MSE"] * losses["MSE"] + train_config.loss_weighting["CE"] * losses["CE"]
     )
 
-    # accelerator.backward(loss)
-    # accelerator.unscale_gradients(optimizer=optimizer)
+    accelerator.backward(loss)
+    accelerator.unscale_gradients(optimizer=optimizer)
 
-    # if accelerator.sync_gradients:
-    #     grad_norm = accelerator.clip_grad_norm_(policy.parameters(), grad_clip_norm)
-    #     if accelerator.is_main_process:
-    #         train_metrics.grad_norm = grad_norm
+    if accelerator.sync_gradients:
+        grad_norm = accelerator.clip_grad_norm_(policy.parameters(), grad_clip_norm)
+        if accelerator.is_main_process:
+            train_metrics.grad_norm = grad_norm
 
-    # optimizer.step()
-    # optimizer.zero_grad()
+    optimizer.step()
+    optimizer.zero_grad()
 
     # Step through pytorch scheduler at every batch instead of epoch
     if lr_scheduler is not None:

opentau-0.1.1/src/opentau/utils/transformers_patch.py

@@ -0,0 +1,48 @@
+# 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.
+
+"""Module for patching transformers metadata lookup.
+
+This module monkey patches `importlib.metadata.distribution` to redirect
+'transformers' lookups to 'opentau-transformers'. This ensures that the custom
+transformers fork is correctly recognized by libraries checking for transformers
+installation.
+"""
+
+import importlib.metadata
+
+# Keep a reference to the original distribution function
+_orig_distribution = importlib.metadata.distribution
+
+
+def distribution(distribution_name):
+    """Monkey patch to redirect 'transformers' metadata lookups to 'opentau-transformers'.
+
+    This function intercepts calls to `importlib.metadata.distribution`. If the
+    requested distribution is "transformers", it redirects the lookup to
+    "opentau-transformers". Otherwise, it delegates to the original implementation.
+
+    Args:
+        distribution_name: The name of the distribution to retrieve metadata for.
+
+    Returns:
+        The distribution metadata object.
+    """
+    if distribution_name == "transformers":
+        distribution_name = "opentau-transformers"
+    return _orig_distribution(distribution_name)
+
+
+# Apply the patch
+importlib.metadata.distribution = distribution

{opentau-0.1.0 → opentau-0.1.1/src/opentau.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: opentau
-Version: 0.1.0
+Version: 0.1.1
 Summary: OpenTau: Tensor's VLA Training Infrastructure for Real-World Robotics in Pytorch
 Author-email: Shuheng Liu <wish1104@icloud.com>, William Yue <williamyue37@gmail.com>, Akshay Shah <akshayhitendrashah@gmail.com>, Xingrui Gu <xingrui_gu@berkeley.edu>
 License: Apache-2.0
@@ -94,6 +94,9 @@ Requires-Dist: numpy<2; extra == "libero"
 Requires-Dist: gym<0.27,>=0.25; extra == "libero"
 Requires-Dist: pyopengl-accelerate==3.1.7; sys_platform == "linux" and extra == "libero"
 Requires-Dist: gymnasium[other]>=0.29; extra == "libero"
+Requires-Dist: mujoco>=3.1.6; sys_platform == "linux" and extra == "libero"
+Requires-Dist: pyopengl==3.1.7; sys_platform == "linux" and extra == "libero"
+Requires-Dist: numpy==1.26.4; sys_platform == "linux" and extra == "libero"
 Dynamic: license-file
 
 <p align="center">
@@ -134,10 +137,10 @@ OpenTau ($\tau$) is a tool developed by *[Tensor][1]* to bridge this gap, and we
 ## Quick Start
 If you are familiar with LeRobot, getting started with OpenTau is very easy.
 Because OpenTau is a fork of the popular LeRobot repository, any LeRobot-compliant policy and dataset can be used directly with OpenTau.
-Check out our documentation to get started quickly.
-We provide a quick start guide to help you get started with OpenTau.
+Check out our [documentation](https://opentau.readthedocs.io/) to get started quickly.
+We provide a [quick start guide](https://opentau.readthedocs.io/en/latest/getting_started.html) to help you get started with OpenTau.
 
-For using local notebooks to train and evaluate models, find the notebooks at `notebooks/pi05_training.ipynb` and `notebooks/pi05_evaluation_only.ipynb`.
+For using local notebooks to train and evaluate models, find the notebooks at [notebooks/pi05_training.ipynb](https://github.com/TensorAuto/OpenTau/blob/main/notebooks/pi05_training.ipynb) and [notebooks/pi05_evaluation_only.ipynb](https://github.com/TensorAuto/OpenTau/blob/main/notebooks/pi05_evaluation_only.ipynb).
 
 For using the Google Colab notebooks to train and evaluate models, find the colab notebooks here: [pi05_training](https://colab.research.google.com/drive/1DeU0lNnEzs1KHo0Nkgh4YKBr-xu9moBM?usp=sharing) and [pi05_evaluation_only](https://colab.research.google.com/drive/1U_AyuH9WYMT4anEWvsOtIT7g01jA0WGm?usp=sharing) respectively.
 

{opentau-0.1.0 → opentau-0.1.1}/src/opentau.egg-info/SOURCES.txt

@@ -87,7 +87,7 @@ src/opentau/scripts/fake_tensor_training.py
 src/opentau/scripts/get_advantage_and_percentiles.py
 src/opentau/scripts/high_level_planner_inference.py
 src/opentau/scripts/inference.py
-src/opentau/scripts/launch_train.py
+src/opentau/scripts/launch.py
 src/opentau/scripts/libero_simulation_parallel.py
 src/opentau/scripts/libero_simulation_sequential.py
 src/opentau/scripts/nav_high_level_planner_inference.py
@@ -108,5 +108,6 @@ src/opentau/utils/logging_utils.py
 src/opentau/utils/monkey_patch.py
 src/opentau/utils/random_utils.py
 src/opentau/utils/train_utils.py
+src/opentau/utils/transformers_patch.py
 src/opentau/utils/utils.py
 tests/test_available.py

opentau-0.1.1/src/opentau.egg-info/entry_points.txt

@@ -0,0 +1,4 @@
+[console_scripts]
+opentau-eval = opentau.scripts.launch:eval
+opentau-export = opentau.scripts.launch:export
+opentau-train = opentau.scripts.launch:train

{opentau-0.1.0 → opentau-0.1.1}/src/opentau.egg-info/requires.txt

@@ -82,6 +82,9 @@ gymnasium[other]>=0.29
 
 [libero:sys_platform == "linux"]
 pyopengl-accelerate==3.1.7
+mujoco>=3.1.6
+pyopengl==3.1.7
+numpy==1.26.4
 
 [openai]
 openai>=1.0.0

opentau-0.1.0/src/opentau/scripts/launch_train.py

@@ -1,63 +0,0 @@
-# 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.
-
-import argparse
-import subprocess
-import sys
-from pathlib import Path
-
-import opentau.scripts.train as train_script
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Launch OpenTau training with Accelerate",
-        usage="opentau-train [--accelerate-config CONFIG] [TRAINING_ARGS]",
-    )
-    parser.add_argument(
-        "--accelerate-config", type=str, help="Path to accelerate config file (yaml)", default=None
-    )
-    # We use parse_known_args so that all other arguments are collected
-    # These will be passed to the training script
-    args, unknown_args = parser.parse_known_args()
-
-    # Base command
-    cmd = ["accelerate", "launch"]
-
-    # Add accelerate config if provided
-    if args.accelerate_config:
-        cmd.extend(["--config_file", args.accelerate_config])
-
-    # Add the path to the training script
-    # We resolve the path to ensure it's absolute
-    train_script_path = Path(train_script.__file__).resolve()
-    cmd.append(str(train_script_path))
-
-    # Add all other arguments (passed to the training script)
-    cmd.extend(unknown_args)
-
-    # Print the command for transparency
-    print(f"Executing: {' '.join(cmd)}")
-
-    # Replace the current process with the accelerate launch command
-    try:
-        subprocess.run(cmd, check=True)
-    except subprocess.CalledProcessError as e:
-        sys.exit(e.returncode)
-    except KeyboardInterrupt:
-        sys.exit(130)
-
-
-if __name__ == "__main__":
-    main()

opentau-0.1.0/src/opentau.egg-info/entry_points.txt

@@ -1,2 +0,0 @@
-[console_scripts]
-opentau-train = opentau.scripts.launch_train:main