vlagents 0.0.1__tar.gz

vlagents-0.0.1/LICENSE

@@ -0,0 +1,201 @@
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vlagents-0.0.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: vlagents
+Version: 0.0.1
+Summary: Modular VLA and Environment interfaces.
+Author-email: Tobias Jülg <tobias.juelg@utn.de>
+Maintainer-email: Tobias Jülg <tobias.juelg@utn.de>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/RobotControlStack/vlagents
+Project-URL: Issues, https://github.com/RobotControlStack/vlagents/issues
+Classifier: Programming Language :: Python :: 3
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: rpyc
+Requires-Dist: numpy
+Requires-Dist: json_numpy
+Requires-Dist: gymnasium
+Requires-Dist: typer
+Requires-Dist: simple-slurm
+Requires-Dist: wandb
+Requires-Dist: pillow
+Requires-Dist: tqdm
+Requires-Dist: simplejpeg
+Provides-Extra: dev
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: black; extra == "dev"
+Requires-Dist: isort; extra == "dev"
+Requires-Dist: mypy; extra == "dev"
+Requires-Dist: build; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: commitizen; extra == "dev"
+Dynamic: license-file
+
+# VLAgents
+VLAgents is a python library that allows to separate next action prediction from policy networks from action execution in simulated or real environments.
+It defines an interface for policies and for environments.
+The policies run independent in their own virtual environment, potentially on a different computer, and can be queried for an action (in principle similar to the chatgpt api).
+
+Why is this useful?
+- Separation of dependencies by using two different python environments: Some times dependencies contradict e.g. pytorch and jax
+- Some robot hardware requires a real time linux kernel which does not easily allow you to use an Nvidia GPU.
+- Separate deployment and model code
+
+This library is a byproduct of the [Refined Policy Distillation (RPD)](https://refined-policy-distillation.github.io/) paper which distilled VLAs into expert policies using Reinforcement Learning.
+The work also includes a section on related engineering challenges regarding jax and pytorch.
+
+## Installation
+
+### Local Installation
+```shell
+git clone https://github.com/juelg/vlagents.git
+cd vlagents
+pip install -ve .
+```
+
+### Repo Installation
+```shell
+pip install git+https://github.com/juelg/vlagents.git
+```
+
+### Environment and Policy Installation
+On top of vlagents you can then install a simulation environment where the agent acts.
+We currently support [maniskill](https://github.com/haosulab/ManiSkill) with more to come.
+In order to avoid dependency conflicts, use a second conda/pip environment to install your policy.
+We currently support [octo](https://github.com/octo-models/octo) and [openvla](https://github.com/openvla/openvla).
+
+### Octo
+To use Octo as an agent/policy you need to create a new conda environment:
+```shell
+conda create -n octo python=3.10
+conda activate octo
+conda install nvidia/label/cuda-11.8.0::cuda --no-channel-priority
+conda install conda-forge::cudnn=8.9
+# octo dependencies
+pip install git+https://github.com/octo-models/octo.git@241fb3514b7c40957a86d869fecb7c7fc353f540
+pip install -r vlagents/utils/fixed_octo_requirements.txt
+# for gpu support:
+pip install --upgrade "jax[cuda11_pip]==0.4.20" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
+```
+
+Verify that the jax installation was successful and that jax finds your gpu.
+Open a python shell in the same conda env and type
+```python
+from jax.lib import xla_bridge
+# this should output "gpu" if the gpu installation was successful
+print(xla_bridge.get_backend().platform)
+```
+
+
+Install the vlagents library on top:
+```shell
+pip install git+https://github.com/juelg/vlagents.git
+```
+
+For more details, see the [Octo github page](https://github.com/octo-models/octo).
+
+#### Troubleshooting
+If pip conplains about dependency issues than it might have happened that torch somehow slipped in.
+Check if you have any torch packages installed by
+```shell
+pip freeze | grep torch
+# if any, uninstall them e.g.
+pip uninstall arm_pytorch_utilities
+pip uninstall pytorch-seed
+pip uninstall pytorch_kinematics
+```
+
+### OpenVLA
+To use OpenVLA, create a new conda environment:
+```shell
+conda create -n openvla python=3.10 -y
+conda activate openvla
+conda install pytorch torchvision torchaudio pytorch-cuda=12.4 -c pytorch -c nvidia -y
+```
+
+Install [flash attention](https://github.com/Dao-AILab/flash-attention):
+```shell
+pip install packaging ninja
+ninja --version; echo $?  # Verify Ninja --> should return exit code "0"
+pip install "flash-attn==2.5.5" --no-build-isolation
+# if you run into issues try `pip cache remove flash_attn` first
+```
+
+Install OpenVLA
+```shell
+pip install git+https://github.com/openvla/openvla.git@46b752f477cc5773cc1234b2e82c0e2130e4e890
+```
+
+Install the vlagents library on top:
+```shell
+pip install git+https://github.com/juelg/vlagents.git
+```
+
+For more details, see the [OpenVLA github page](https://github.com/openvla/openvla).
+
+### OpenPi / Pi0
+To use OpenPi, create a new conda environment:
+```shell
+conda create -n openpi python=3.11 -y
+conda activate openpi
+```
+Clone the repo and install it.
+```shell
+git clone --recurse-submodules git@github.com:Physical-Intelligence/openpi.git
+# Or if you already cloned the repo:
+git submodule update --init --recursive
+# install dependencies
+GIT_LFS_SKIP_SMUDGE=1 uv sync
+GIT_LFS_SKIP_SMUDGE=1 uv pip install -e .
+```
+For more details see [openpi's github](https://github.com/Physical-Intelligence/openpi).
+
+### vjEPA2-ac
+To use VJEPA2-AC, create a new conda environment:
+```shell
+conda create -n vjepa2 python=3.12
+conda activate vjepa2
+```
+Clone the repo and install it.
+```shell
+git clone git@github.com:facebookresearch/vjepa2.git
+cd vjepa2
+pip install -e .
+
+pip install git+https://github.com/juelg/vlagents.git
+pip install -ve .
+
+```
+
+## Usage
+To start an vlagents server use the `start-server` command where `kwargs` is a dictionary of the constructor arguments of the policy you want to start e.g.
+```shell
+# octo
+python -m vlagents start-server octo --host localhost --port 8080 --kwargs '{"checkpoint_path": "hf://Juelg/octo-base-1.5-finetuned-maniskill", "checkpoint_step": None, "horizon": 1, "unnorm_key": []}'
+
+# openvla
+python -m vlagents start-server openvla --host localhost --port 8080 --kwargs '{"checkpoint_path": "Juelg/openvla-7b-finetuned-maniskill", "device": "cuda:0", "attn_implementation": "flash_attention_2", "unnorm_key": "maniskill_human:7.0.0", "checkpoint_step": 40000}'
+
+# openpi
+python -m vlagents start-server openpi --port=8080 --host=localhost --kwargs='{"checkpoint_path": "<path to checkpoint>/{checkpoint_step}", "model_name": "pi0_rcs", "checkpoint_step": <checkpoint_step>}' # leave "{checkpoint_step}" it will be replaced, "model_name" is the key for the training config
+
+# vjepa2-ac
+python -m vlagents start-server vjepa --port=20997 --host=0.0.0.0 --kwargs='{"cfg_path": "configs/inference/vjepa2-ac-vitg/<your_config>.yaml", "model_name": "vjepa2_ac_vit_giant", "default_checkpoint_path": "../.cache/torch/hub/checkpoints/vjepa2-ac-vitg.pt"}'
+```
+
+
+There is also the `run-eval-during-training` command to evaluate a model during training, so a single checkpoint.
+The `run-eval-post-training` command evaluates a range of checkpoints in parallel.
+In both cases environment and arguments as well as policy and arguments and wandb config for logging can be passed as CLI arguments.
+
+
+## Contribution
+
+### New Policy
+In order to extend the library with a new policy network, extend the `Agent` class in [policies.py](src/vlagents/policies.py).
+It is important to only invoke policy specific imports in the class functions, as each policy can have its own dependencies.
+
+
+### New Environment
+In order to extend the library with a new agent environment, extend the `EvaluatorEnv` class in [evaluator_envs.py](src/vlagents/evaluator_envs.py).
+
+
+### Developer Tools
+Install the following dev dependencies:
+```shell
+pip install -ve '.[dev]'
+```
+
+The following dev tools are provided:
+```shell
+# format the code
+make format
+
+# lint the code
+make lint
+
+# run tests
+make test
+```
+
+## Citation
+If you find the agent useful for your work, please consider citing the original work behind it:
+```
+@inproceedings{juelg2025refinedpolicydistillationvla,
+    title={{Refined Policy Distillation}: {F}rom {VLA} Generalists to {RL} Experts}, 
+    author={Tobias Jülg and Wolfram Burgard and Florian Walter},
+    year={2025},
+    booktitle={Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
+    note={Accepted for publication.}
+}
+```

vlagents-0.0.1/README.md

@@ -0,0 +1,198 @@
+# VLAgents
+VLAgents is a python library that allows to separate next action prediction from policy networks from action execution in simulated or real environments.
+It defines an interface for policies and for environments.
+The policies run independent in their own virtual environment, potentially on a different computer, and can be queried for an action (in principle similar to the chatgpt api).
+
+Why is this useful?
+- Separation of dependencies by using two different python environments: Some times dependencies contradict e.g. pytorch and jax
+- Some robot hardware requires a real time linux kernel which does not easily allow you to use an Nvidia GPU.
+- Separate deployment and model code
+
+This library is a byproduct of the [Refined Policy Distillation (RPD)](https://refined-policy-distillation.github.io/) paper which distilled VLAs into expert policies using Reinforcement Learning.
+The work also includes a section on related engineering challenges regarding jax and pytorch.
+
+## Installation
+
+### Local Installation
+```shell
+git clone https://github.com/juelg/vlagents.git
+cd vlagents
+pip install -ve .
+```
+
+### Repo Installation
+```shell
+pip install git+https://github.com/juelg/vlagents.git
+```
+
+### Environment and Policy Installation
+On top of vlagents you can then install a simulation environment where the agent acts.
+We currently support [maniskill](https://github.com/haosulab/ManiSkill) with more to come.
+In order to avoid dependency conflicts, use a second conda/pip environment to install your policy.
+We currently support [octo](https://github.com/octo-models/octo) and [openvla](https://github.com/openvla/openvla).
+
+### Octo
+To use Octo as an agent/policy you need to create a new conda environment:
+```shell
+conda create -n octo python=3.10
+conda activate octo
+conda install nvidia/label/cuda-11.8.0::cuda --no-channel-priority
+conda install conda-forge::cudnn=8.9
+# octo dependencies
+pip install git+https://github.com/octo-models/octo.git@241fb3514b7c40957a86d869fecb7c7fc353f540
+pip install -r vlagents/utils/fixed_octo_requirements.txt
+# for gpu support:
+pip install --upgrade "jax[cuda11_pip]==0.4.20" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
+```
+
+Verify that the jax installation was successful and that jax finds your gpu.
+Open a python shell in the same conda env and type
+```python
+from jax.lib import xla_bridge
+# this should output "gpu" if the gpu installation was successful
+print(xla_bridge.get_backend().platform)
+```
+
+
+Install the vlagents library on top:
+```shell
+pip install git+https://github.com/juelg/vlagents.git
+```
+
+For more details, see the [Octo github page](https://github.com/octo-models/octo).
+
+#### Troubleshooting
+If pip conplains about dependency issues than it might have happened that torch somehow slipped in.
+Check if you have any torch packages installed by
+```shell
+pip freeze | grep torch
+# if any, uninstall them e.g.
+pip uninstall arm_pytorch_utilities
+pip uninstall pytorch-seed
+pip uninstall pytorch_kinematics
+```
+
+### OpenVLA
+To use OpenVLA, create a new conda environment:
+```shell
+conda create -n openvla python=3.10 -y
+conda activate openvla
+conda install pytorch torchvision torchaudio pytorch-cuda=12.4 -c pytorch -c nvidia -y
+```
+
+Install [flash attention](https://github.com/Dao-AILab/flash-attention):
+```shell
+pip install packaging ninja
+ninja --version; echo $?  # Verify Ninja --> should return exit code "0"
+pip install "flash-attn==2.5.5" --no-build-isolation
+# if you run into issues try `pip cache remove flash_attn` first
+```
+
+Install OpenVLA
+```shell
+pip install git+https://github.com/openvla/openvla.git@46b752f477cc5773cc1234b2e82c0e2130e4e890
+```
+
+Install the vlagents library on top:
+```shell
+pip install git+https://github.com/juelg/vlagents.git
+```
+
+For more details, see the [OpenVLA github page](https://github.com/openvla/openvla).
+
+### OpenPi / Pi0
+To use OpenPi, create a new conda environment:
+```shell
+conda create -n openpi python=3.11 -y
+conda activate openpi
+```
+Clone the repo and install it.
+```shell
+git clone --recurse-submodules git@github.com:Physical-Intelligence/openpi.git
+# Or if you already cloned the repo:
+git submodule update --init --recursive
+# install dependencies
+GIT_LFS_SKIP_SMUDGE=1 uv sync
+GIT_LFS_SKIP_SMUDGE=1 uv pip install -e .
+```
+For more details see [openpi's github](https://github.com/Physical-Intelligence/openpi).
+
+### vjEPA2-ac
+To use VJEPA2-AC, create a new conda environment:
+```shell
+conda create -n vjepa2 python=3.12
+conda activate vjepa2
+```
+Clone the repo and install it.
+```shell
+git clone git@github.com:facebookresearch/vjepa2.git
+cd vjepa2
+pip install -e .
+
+pip install git+https://github.com/juelg/vlagents.git
+pip install -ve .
+
+```
+
+## Usage
+To start an vlagents server use the `start-server` command where `kwargs` is a dictionary of the constructor arguments of the policy you want to start e.g.
+```shell
+# octo
+python -m vlagents start-server octo --host localhost --port 8080 --kwargs '{"checkpoint_path": "hf://Juelg/octo-base-1.5-finetuned-maniskill", "checkpoint_step": None, "horizon": 1, "unnorm_key": []}'
+
+# openvla
+python -m vlagents start-server openvla --host localhost --port 8080 --kwargs '{"checkpoint_path": "Juelg/openvla-7b-finetuned-maniskill", "device": "cuda:0", "attn_implementation": "flash_attention_2", "unnorm_key": "maniskill_human:7.0.0", "checkpoint_step": 40000}'
+
+# openpi
+python -m vlagents start-server openpi --port=8080 --host=localhost --kwargs='{"checkpoint_path": "<path to checkpoint>/{checkpoint_step}", "model_name": "pi0_rcs", "checkpoint_step": <checkpoint_step>}' # leave "{checkpoint_step}" it will be replaced, "model_name" is the key for the training config
+
+# vjepa2-ac
+python -m vlagents start-server vjepa --port=20997 --host=0.0.0.0 --kwargs='{"cfg_path": "configs/inference/vjepa2-ac-vitg/<your_config>.yaml", "model_name": "vjepa2_ac_vit_giant", "default_checkpoint_path": "../.cache/torch/hub/checkpoints/vjepa2-ac-vitg.pt"}'
+```
+
+
+There is also the `run-eval-during-training` command to evaluate a model during training, so a single checkpoint.
+The `run-eval-post-training` command evaluates a range of checkpoints in parallel.
+In both cases environment and arguments as well as policy and arguments and wandb config for logging can be passed as CLI arguments.
+
+
+## Contribution
+
+### New Policy
+In order to extend the library with a new policy network, extend the `Agent` class in [policies.py](src/vlagents/policies.py).
+It is important to only invoke policy specific imports in the class functions, as each policy can have its own dependencies.
+
+
+### New Environment
+In order to extend the library with a new agent environment, extend the `EvaluatorEnv` class in [evaluator_envs.py](src/vlagents/evaluator_envs.py).
+
+
+### Developer Tools
+Install the following dev dependencies:
+```shell
+pip install -ve '.[dev]'
+```
+
+The following dev tools are provided:
+```shell
+# format the code
+make format
+
+# lint the code
+make lint
+
+# run tests
+make test
+```
+
+## Citation
+If you find the agent useful for your work, please consider citing the original work behind it:
+```
+@inproceedings{juelg2025refinedpolicydistillationvla,
+    title={{Refined Policy Distillation}: {F}rom {VLA} Generalists to {RL} Experts}, 
+    author={Tobias Jülg and Wolfram Burgard and Florian Walter},
+    year={2025},
+    booktitle={Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
+    note={Accepted for publication.}
+}
+```