From 4ebe9eff789fba2428b0ed44c72f0330fd049645 Mon Sep 17 00:00:00 2001 From: Sriram Krishna Date: Wed, 31 Dec 2025 02:43:26 -0500 Subject: [PATCH 1/3] switch to dinov3 + add register tokens --- configs/model/dino_3dgp.yaml | 2 +- pixi.lock | 608 +++++++++++++++++----------------- pyproject.toml | 6 +- src/lfd3d/models/dino_3dgp.py | 49 ++- 4 files changed, 345 insertions(+), 320 deletions(-) diff --git a/configs/model/dino_3dgp.yaml b/configs/model/dino_3dgp.yaml index 02d826d..f9e2e5e 100644 --- a/configs/model/dino_3dgp.yaml +++ b/configs/model/dino_3dgp.yaml @@ -6,7 +6,7 @@ use_text_embedding: True # If true, expects (siglip) text embedding to be provid use_gripper_token: True # Adds an additional gripper token use_source_token: True # If true, adds a learnable token for human/robot data source num_transformer_layers: 4 # num blocks for self atttention -dino_model: 'facebook/dinov2-base' +dino_model: 'facebook/dinov3-vitb16-pretrain-lvd1689m' dropout: 0.1 diff --git a/pixi.lock b/pixi.lock index 6c2235c..b5159bb 100644 --- a/pixi.lock +++ b/pixi.lock @@ -253,7 +253,6 @@ environments: - 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keras-nlp>=0.3.1,<0.14.0 ; extra == 'dev-tensorflow' + - protobuf ; extra == 'dev-tensorflow' + - tokenizers>=0.22.0,<=0.23.0 ; extra == 'dev-tensorflow' + - pillow>=10.0.1,<=15.0 ; extra == 'dev-tensorflow' - urllib3<2.0.0 ; extra == 'dev-tensorflow' - - gitpython<3.1.19 ; extra == 'dev-torch' - - pillow>=10.0.1,<=15.0 ; extra == 'dev-torch' - - accelerate>=0.26.0 ; extra == 'dev-torch' - - beautifulsoup4 ; extra == 'dev-torch' - - codecarbon==1.2.0 ; extra == 'dev-torch' - - cookiecutter==1.7.3 ; extra == 'dev-torch' - - datasets!=2.5.0 ; extra == 'dev-torch' + - rich ; extra == 'dev-tensorflow' + - pandas<2.3.0 ; extra == 'dev-tensorflow' + - scikit-learn ; extra == 'dev-tensorflow' + - onnxruntime>=1.4.0 ; extra == 'dev-tensorflow' + - onnxruntime-tools>=1.4.2 ; extra == 'dev-tensorflow' + - librosa ; extra == 'dev-tensorflow' + - pyctcdecode>=0.4.0 ; extra == 'dev-tensorflow' + - phonemizer ; extra == 'dev-tensorflow' + - kenlm ; extra == 'dev-tensorflow' + - pytest>=7.2.0 ; extra == 'dev-torch' + - pytest-asyncio ; extra == 'dev-torch' + - pytest-rich ; extra == 'dev-torch' + - pytest-xdist ; extra == 'dev-torch' + - pytest-order ; extra == 'dev-torch' + - pytest-rerunfailures ; extra == 'dev-torch' + - timeout-decorator ; extra == 'dev-torch' + - parameterized>=0.9 ; extra == 'dev-torch' + - psutil ; extra == 'dev-torch' + - datasets>=2.15.0 ; extra == 'dev-torch' - dill<0.3.5 ; extra == 'dev-torch' - evaluate>=0.2.0 ; extra == 'dev-torch' - - faiss-cpu ; extra == 'dev-torch' - - fugashi>=1.0 ; extra == 'dev-torch' - - ipadic>=1.0.0,<2.0 ; extra == 'dev-torch' - - isort>=5.5.4 ; extra == 'dev-torch' - - kenlm ; extra == 'dev-torch' - - libcst ; extra == 'dev-torch' - - librosa ; extra == 'dev-torch' - - nltk<=3.8.1 ; extra == 'dev-torch' - - onnxruntime-tools>=1.4.2 ; extra == 'dev-torch' - - onnxruntime>=1.4.0 ; extra == 'dev-torch' - - optuna ; extra == 'dev-torch' - - parameterized ; extra == 'dev-torch' - - phonemizer ; extra == 'dev-torch' - - protobuf ; extra == 'dev-torch' - - psutil ; extra == 'dev-torch' - - pyctcdecode>=0.4.0 ; extra == 'dev-torch' - - pydantic ; extra == 'dev-torch' - - pytest-rich ; extra == 'dev-torch' - pytest-timeout ; extra == 'dev-torch' - - pytest-xdist ; extra == 'dev-torch' - - pytest>=7.2.0,<8.0.0 ; extra == 'dev-torch' - - ray[tune]>=2.7.0 ; extra == 'dev-torch' - - rhoknp>=1.1.0,<1.3.1 ; extra == 'dev-torch' - - rich ; extra == 'dev-torch' - - rjieba ; extra == 'dev-torch' + - ruff==0.11.2 ; extra == 'dev-torch' - rouge-score!=0.0.7,!=0.0.8,!=0.1,!=0.1.1 ; extra == 'dev-torch' - - ruff==0.5.1 ; extra == 'dev-torch' - - sacrebleu>=1.4.12,<2.0.0 ; extra == 'dev-torch' + - nltk<=3.8.1 ; extra == 'dev-torch' + - gitpython<3.1.19 ; extra == 'dev-torch' - sacremoses ; extra == 'dev-torch' - - scikit-learn ; extra == 'dev-torch' - - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'dev-torch' - - sigopt ; extra == 'dev-torch' - - sudachidict-core>=20220729 ; extra == 'dev-torch' - - sudachipy>=0.6.6 ; extra == 'dev-torch' + - rjieba ; extra == 'dev-torch' + - beautifulsoup4 ; extra == 'dev-torch' - tensorboard ; extra == 'dev-torch' - - timeout-decorator ; extra == 'dev-torch' - - timm<=0.9.16 ; extra == 'dev-torch' - - tokenizers>=0.20,<0.21 ; extra == 'dev-torch' - - torch ; extra == 'dev-torch' + - pydantic>=2 ; extra == 'dev-torch' + - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'dev-torch' + - sacrebleu>=1.4.12,<2.0.0 ; extra == 'dev-torch' + - libcst ; extra == 'dev-torch' + - faiss-cpu ; extra == 'dev-torch' + - cookiecutter==1.7.3 ; extra == 'dev-torch' + - mistral-common[opencv]>=1.6.3 ; extra == 'dev-torch' + - torch>=2.2 ; extra == 'dev-torch' + - accelerate>=0.26.0 ; extra == 'dev-torch' + - protobuf ; extra == 'dev-torch' + - tokenizers>=0.22.0,<=0.23.0 ; extra == 'dev-torch' - torchaudio ; extra == 'dev-torch' + - librosa ; extra == 'dev-torch' + - pyctcdecode>=0.4.0 ; extra == 'dev-torch' + - phonemizer ; extra == 'dev-torch' + - kenlm ; extra == 'dev-torch' + - pillow>=10.0.1,<=15.0 ; extra == 'dev-torch' + - kernels>=0.6.1,<=0.9 ; extra == 'dev-torch' + - optuna ; extra == 'dev-torch' + - ray[tune]>=2.7.0 ; extra == 'dev-torch' + - sigopt ; extra == 'dev-torch' + - timm!=1.0.18,<=1.0.19 ; extra == 'dev-torch' - torchvision ; extra == 'dev-torch' - - unidic>=1.0.2 ; extra == 'dev-torch' - - unidic-lite>=1.0.7 ; extra == 'dev-torch' + - codecarbon>=2.8.1 ; extra == 'dev-torch' - urllib3<2.0.0 ; extra == 'dev-torch' - - flax>=0.4.1,<=0.7.0 ; extra == 'flax' + - rich ; extra == 'dev-torch' + - pandas<2.3.0 ; extra == 'dev-torch' + - fugashi>=1.0 ; extra == 'dev-torch' + - ipadic>=1.0.0,<2.0 ; extra == 'dev-torch' + - unidic-lite>=1.0.7 ; extra == 'dev-torch' + - unidic>=1.0.2 ; extra == 'dev-torch' + - sudachipy>=0.6.6 ; extra == 'dev-torch' + - sudachidict-core>=20220729 ; extra == 'dev-torch' + - rhoknp>=1.1.0,<1.3.1 ; extra == 'dev-torch' + - scikit-learn ; extra == 'dev-torch' + - onnxruntime>=1.4.0 ; extra == 'dev-torch' + - onnxruntime-tools>=1.4.2 ; extra == 'dev-torch' + - num2words ; extra == 'dev-torch' - jax>=0.4.1,<=0.4.13 ; extra == 'flax' - jaxlib>=0.4.1,<=0.4.13 ; extra == 'flax' + - flax>=0.4.1,<=0.7.0 ; extra == 'flax' - optax>=0.0.8,<=0.1.4 ; extra == 'flax' - scipy<1.13.0 ; extra == 'flax' - - kenlm ; extra == 'flax-speech' - librosa ; extra == 'flax-speech' - - phonemizer ; extra == 'flax-speech' - pyctcdecode>=0.4.0 ; extra == 'flax-speech' + - phonemizer ; extra == 'flax-speech' + - kenlm ; extra == 'flax-speech' - ftfy ; extra == 'ftfy' + - hf-xet ; extra == 'hf-xet' + - kernels>=0.6.1,<=0.9 ; extra == 'hub-kernels' + - kernels>=0.6.1,<=0.9 ; extra == 'integrations' - optuna ; extra == 'integrations' - ray[tune]>=2.7.0 ; extra == 'integrations' - sigopt ; extra == 'integrations' - fugashi>=1.0 ; extra == 'ja' - ipadic>=1.0.0,<2.0 ; extra == 'ja' - - rhoknp>=1.1.0,<1.3.1 ; extra == 'ja' - - sudachidict-core>=20220729 ; extra == 'ja' - - sudachipy>=0.6.6 ; extra == 'ja' - - unidic>=1.0.2 ; extra == 'ja' - unidic-lite>=1.0.7 ; extra == 'ja' + - unidic>=1.0.2 ; extra == 'ja' + - sudachipy>=0.6.6 ; extra == 'ja' + - sudachidict-core>=20220729 ; extra == 'ja' + - rhoknp>=1.1.0,<1.3.1 ; extra == 'ja' + - mistral-common[opencv]>=1.6.3 ; extra == 'mistral-common' - cookiecutter==1.7.3 ; extra == 'modelcreation' - natten>=0.14.6,<0.15.0 ; extra == 'natten' + - num2words ; extra == 'num2words' - onnxconverter-common ; extra == 'onnx' - - onnxruntime-tools>=1.4.2 ; extra == 'onnx' - - onnxruntime>=1.4.0 ; extra == 'onnx' - tf2onnx ; extra == 'onnx' - - onnxruntime-tools>=1.4.2 ; extra == 'onnxruntime' + - onnxruntime>=1.4.0 ; extra == 'onnx' + - onnxruntime-tools>=1.4.2 ; extra == 'onnx' - onnxruntime>=1.4.0 ; extra == 'onnxruntime' + - onnxruntime-tools>=1.4.2 ; extra == 'onnxruntime' + - opentelemetry-api ; extra == 'open-telemetry' + - opentelemetry-exporter-otlp ; extra == 'open-telemetry' + - opentelemetry-sdk ; extra == 'open-telemetry' - optuna ; extra == 'optuna' + - datasets>=2.15.0 ; extra == 'quality' + - ruff==0.11.2 ; extra == 'quality' - gitpython<3.1.19 ; extra == 'quality' - - datasets!=2.5.0 ; extra == 'quality' - - isort>=5.5.4 ; extra == 'quality' + - urllib3<2.0.0 ; extra == 'quality' - libcst ; extra == 'quality' - rich ; extra == 'quality' - - ruff==0.5.1 ; extra == 'quality' - - urllib3<2.0.0 ; extra == 'quality' + - pandas<2.3.0 ; extra == 'quality' - ray[tune]>=2.7.0 ; extra == 'ray' - - datasets!=2.5.0 ; extra == 'retrieval' - faiss-cpu ; extra == 'retrieval' - - ruff==0.5.1 ; extra == 'ruff' + - datasets>=2.15.0 ; extra == 'retrieval' + - ruff==0.11.2 ; extra == 'ruff' - sagemaker>=2.31.0 ; extra == 'sagemaker' - - protobuf ; extra == 'sentencepiece' - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'sentencepiece' + - protobuf ; extra == 'sentencepiece' + - openai>=1.98.0 ; extra == 'serving' + - pydantic>=2 ; extra == 'serving' + - uvicorn ; extra == 'serving' - fastapi ; extra == 'serving' - - pydantic ; extra == 'serving' - starlette ; extra == 'serving' - - uvicorn ; extra == 'serving' + - torch>=2.2 ; extra == 'serving' + - accelerate>=0.26.0 ; extra == 'serving' - sigopt ; extra == 'sigopt' - scikit-learn ; extra == 'sklearn' - - kenlm ; extra == 'speech' + - torchaudio ; extra == 'speech' - librosa ; extra == 'speech' - - phonemizer ; extra == 'speech' - pyctcdecode>=0.4.0 ; extra == 'speech' - - torchaudio ; extra == 'speech' - - gitpython<3.1.19 ; extra == 'testing' - - beautifulsoup4 ; extra == 'testing' - - cookiecutter==1.7.3 ; extra == 'testing' - - datasets!=2.5.0 ; extra == 'testing' + - phonemizer ; extra == 'speech' + - kenlm ; extra == 'speech' + - pytest>=7.2.0 ; extra == 'testing' + - pytest-asyncio ; extra == 'testing' + - pytest-rich ; extra == 'testing' + - pytest-xdist ; extra == 'testing' + - pytest-order ; extra == 'testing' + - pytest-rerunfailures ; extra == 'testing' + - timeout-decorator ; extra == 'testing' + - parameterized>=0.9 ; extra == 'testing' + - psutil ; extra == 'testing' + - datasets>=2.15.0 ; extra == 'testing' - dill<0.3.5 ; extra == 'testing' - evaluate>=0.2.0 ; extra == 'testing' - - faiss-cpu ; extra == 'testing' - - nltk<=3.8.1 ; extra == 'testing' - - parameterized ; extra == 'testing' - - psutil ; extra == 'testing' - - pydantic ; extra == 'testing' - - pytest-rich ; extra == 'testing' - pytest-timeout ; extra == 'testing' - - pytest-xdist ; extra == 'testing' - - pytest>=7.2.0,<8.0.0 ; extra == 'testing' - - rjieba ; extra == 'testing' + - ruff==0.11.2 ; extra == 'testing' - rouge-score!=0.0.7,!=0.0.8,!=0.1,!=0.1.1 ; extra == 'testing' - - ruff==0.5.1 ; extra == 'testing' - - sacrebleu>=1.4.12,<2.0.0 ; extra == 'testing' + - nltk<=3.8.1 ; extra == 'testing' + - gitpython<3.1.19 ; extra == 'testing' - sacremoses ; extra == 'testing' - - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'testing' + - rjieba ; extra == 'testing' + - beautifulsoup4 ; extra == 'testing' - tensorboard ; extra == 'testing' - - timeout-decorator ; extra == 'testing' - - keras-nlp>=0.3.1,<0.14.0 ; extra == 'tf' - - onnxconverter-common ; extra == 'tf' - - tensorflow-text<2.16 ; extra == 'tf' + - pydantic>=2 ; extra == 'testing' + - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'testing' + - sacrebleu>=1.4.12,<2.0.0 ; extra == 'testing' + - libcst ; extra == 'testing' + - faiss-cpu ; extra == 'testing' + - cookiecutter==1.7.3 ; extra == 'testing' + - mistral-common[opencv]>=1.6.3 ; extra == 'testing' - tensorflow>2.9,<2.16 ; extra == 'tf' + - onnxconverter-common ; extra == 'tf' - tf2onnx ; extra == 'tf' - - keras-nlp>=0.3.1,<0.14.0 ; extra == 'tf-cpu' + - tensorflow-text<2.16 ; extra == 'tf' + - keras-nlp>=0.3.1,<0.14.0 ; extra == 'tf' - keras>2.9,<2.16 ; extra == 'tf-cpu' - - onnxconverter-common ; extra == 'tf-cpu' - tensorflow-cpu>2.9,<2.16 ; extra == 'tf-cpu' - - tensorflow-probability<0.24 ; extra == 'tf-cpu' - - tensorflow-text<2.16 ; extra == 'tf-cpu' + - onnxconverter-common ; extra == 'tf-cpu' - tf2onnx ; extra == 'tf-cpu' - - kenlm ; extra == 'tf-speech' + - tensorflow-text<2.16 ; extra == 'tf-cpu' + - keras-nlp>=0.3.1,<0.14.0 ; extra == 'tf-cpu' + - tensorflow-probability<0.24 ; extra == 'tf-cpu' - librosa ; extra == 'tf-speech' - - phonemizer ; extra == 'tf-speech' - pyctcdecode>=0.4.0 ; extra == 'tf-speech' - - blobfile ; extra == 'tiktoken' + - phonemizer ; extra == 'tf-speech' + - kenlm ; extra == 'tf-speech' - tiktoken ; extra == 'tiktoken' - - timm<=0.9.16 ; extra == 'timm' - - tokenizers>=0.20,<0.21 ; extra == 'tokenizers' + - blobfile ; extra == 'tiktoken' + - timm!=1.0.18,<=1.0.19 ; extra == 'timm' + - tokenizers>=0.22.0,<=0.23.0 ; extra == 'tokenizers' + - torch>=2.2 ; extra == 'torch' - accelerate>=0.26.0 ; extra == 'torch' - - torch ; extra == 'torch' - - kenlm ; extra == 'torch-speech' + - torchaudio ; extra == 'torch-speech' - librosa ; extra == 'torch-speech' - - phonemizer ; extra == 'torch-speech' - pyctcdecode>=0.4.0 ; extra == 'torch-speech' - - torchaudio ; extra == 'torch-speech' - - pillow>=10.0.1,<=15.0 ; extra == 'torch-vision' + - phonemizer ; extra == 'torch-speech' + - kenlm ; extra == 'torch-speech' - torchvision ; extra == 'torch-vision' + - pillow>=10.0.1,<=15.0 ; extra == 'torch-vision' - filelock ; extra == 'torchhub' - - huggingface-hub>=0.23.2,<1.0 ; extra == 'torchhub' + - huggingface-hub>=0.34.0,<1.0 ; extra == 'torchhub' - importlib-metadata ; extra == 'torchhub' - numpy>=1.17 ; extra == 'torchhub' - packaging>=20.0 ; extra == 'torchhub' @@ -7546,13 +7555,12 @@ packages: - regex!=2019.12.17 ; extra == 'torchhub' - requests ; extra == 'torchhub' - sentencepiece>=0.1.91,!=0.1.92 ; extra == 'torchhub' - - tokenizers>=0.20,<0.21 ; extra == 'torchhub' - - torch ; extra == 'torchhub' + - torch>=2.2 ; extra == 'torchhub' + - tokenizers>=0.22.0,<=0.23.0 ; extra == 'torchhub' - tqdm>=4.27 ; extra == 'torchhub' - - av==9.2.0 ; extra == 'video' - - decord==0.6.0 ; extra == 'video' + - av ; extra == 'video' - pillow>=10.0.1,<=15.0 ; extra == 'vision' - requires_python: '>=3.8.0' + requires_python: '>=3.9.0' - pypi: https://files.pythonhosted.org/packages/3e/79/9563bd90b2b964e85424b6e41e58c39d812d31f62198140b87c823e19ed9/trimesh-4.7.3-py3-none-any.whl name: trimesh version: 4.7.3 diff --git a/pyproject.toml b/pyproject.toml index 7011401..53d2051 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -13,7 +13,7 @@ dependencies = [ "diffusers>=0.26.3", "gif", "typer", - "huggingface-hub>=0.25.2,<=0.32.2", + "huggingface-hub>=0.34.0,<1.0", "datasets<4.0.0", "hydra-core==1.3.2", "pytorch-lightning==2.4", @@ -22,7 +22,7 @@ dependencies = [ "torchmetrics", "wandb==0.18", "moviepy==1.0.3", - "transformers==4.45.2", + "transformers==4.56.0", "sentencepiece", "robot_descriptions", "trimesh", @@ -94,7 +94,7 @@ wheel = "*" ninja = "*" spconv-cu124 = "*" torch_geometric = "<2.3" -lerobot = { git = "https://github.com/r-pad/lerobot.git", rev = "ebbe620d3938ce368d87841d52ef551dda512936" } +lerobot = { git = "https://github.com/r-pad/lerobot.git", rev = "33e6e4cf090331e2fa23616007718a63aa35bd77" } # Git dependencies as tasks [tool.pixi.tasks] diff --git a/src/lfd3d/models/dino_3dgp.py b/src/lfd3d/models/dino_3dgp.py index 093de1a..f67776a 100644 --- a/src/lfd3d/models/dino_3dgp.py +++ b/src/lfd3d/models/dino_3dgp.py @@ -85,7 +85,7 @@ class Dino3DGPNetwork(nn.Module): - Gripper token: 6DoF pose + gripper width (optional) - Source token: learnable embedding for human/robot (optional) - Transformer: self-attention blocks - - Output: N*256 GMM components, each predicting 13-dim (4×3 coords + 1 weight) + - Output: N*196 GMM components, each predicting 13-dim (4×3 coords + 1 weight) """ def __init__(self, model_cfg): @@ -177,13 +177,19 @@ def __init__(self, model_cfg): # Output head: predicts 13 dims per component (12 for 4×3 coords + 1 weight) self.output_head = nn.Linear(self.hidden_dim, 13) + # Register tokens + self.num_registers = 4 + self.registers = nn.Parameter( + torch.randn(1, self.num_registers, self.hidden_dim) * 0.02 + ) + def apply_image_token_dropout(self, tokens, patch_coords, num_cameras): """ Apply image token dropout during training. Args: - tokens: (B, N*256, hidden_dim) image tokens - patch_coords: (B, N*256, 3) patch coordinates + tokens: (B, N*196, hidden_dim) image tokens + patch_coords: (B, N*196, 3) patch coordinates num_cameras: N - number of cameras Returns: @@ -194,7 +200,7 @@ def apply_image_token_dropout(self, tokens, patch_coords, num_cameras): return tokens, patch_coords B, total_tokens, hidden_dim = tokens.shape - tokens_per_camera = 256 + tokens_per_camera = 196 device = tokens.device # Sample dropout strategy: 0.6 = no dropout, 0.3 = token dropout, 0.1 = camera dropout @@ -276,10 +282,10 @@ def get_patch_centers(self, H, W, intrinsics, depth, extrinsics): B, N, _, _ = depth.shape device = depth.device - # Calculate patch grid size (DINOv2 uses 16×16 patches for 224×224 image) + # Calculate patch grid size (DINOv3 uses 16×16 patches for 224×224 image) h_patches = H // self.patch_size w_patches = W // self.patch_size - num_patches = h_patches * w_patches # 256 for 224x224 with patch_size=14 + num_patches = h_patches * w_patches # 196 for 224x224 with patch_size=16 # Get center pixel of each patch y_centers = ( @@ -377,30 +383,30 @@ def forward( inputs = {k: v.to(self.backbone.device) for k, v in inputs.items()} dino_outputs = self.backbone(**inputs) - # Get patch features (skip CLS token) + # Get patch features (skip CLS and register tokens) patch_features = dino_outputs.last_hidden_state[ - :, 1: - ] # (B, 256, dino_hidden_dim) + :, 5: + ] # (B, 196, dino_hidden_dim) all_patch_features.append(patch_features) - # Concatenate features from all cameras: (B, N*256, dino_hidden_dim) + # Concatenate features from all cameras: (B, N*196, dino_hidden_dim) patch_features = torch.cat(all_patch_features, dim=1) # Get 3D positional encoding for patches (in world frame) patch_coords = self.get_patch_centers( H, W, intrinsics, depth, extrinsics - ) # (B, N*256, 3) - pos_encoding = self.pos_encoder(patch_coords) # (B, N*256, 128) + ) # (B, N*196, 3) + pos_encoding = self.pos_encoder(patch_coords) # (B, N*196, 128) # Combine patch features with positional encoding tokens = torch.cat( [patch_features, pos_encoding], dim=-1 - ) # (B, N*256, hidden_dim) + ) # (B, N*196, hidden_dim) # Apply image token dropout (training only) tokens, patch_coords = self.apply_image_token_dropout(tokens, patch_coords, N) - # Number of tokens T <= N*256 + # Number of tokens T <= N*196 num_patch_tokens = tokens.shape[1] mask = torch.zeros(B, num_patch_tokens, dtype=torch.bool, device=tokens.device) @@ -441,11 +447,22 @@ def forward( [mask, torch.zeros(B, 1, dtype=torch.bool, device=tokens.device)], dim=1 ) + tokens = torch.cat([tokens, self.registers.expand(B, -1, -1)], dim=1) + mask = torch.cat( + [ + mask, + torch.zeros( + B, self.num_registers, dtype=torch.bool, device=tokens.device + ), + ], + dim=1, + ) + # Apply transformer blocks for block in self.transformer_blocks: tokens = block(tokens, src_key_padding_mask=mask) - # Take only the patch tokens (throw away language, gripper, source tokens) + # Take only the patch tokens (throw away language, gripper, source, register tokens) tokens = tokens[:, :num_patch_tokens] # (B, T, hidden_dim) # Predict GMM parameters @@ -709,7 +726,7 @@ def nll_loss( ): """ Negative log-likelihood loss for GMM. - Similar to articubot.py but adapted for T <= 256*N fixed components. + Similar to articubot.py but adapted for T <= 196*N fixed components. 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name: wrapt - version: 1.17.2 - sha256: b870b5df5b71d8c3359d21be8f0d6c485fa0ebdb6477dda51a1ea54a9b558061 - requires_python: '>=3.8' - conda: https://conda.anaconda.org/conda-forge/linux-64/x264-1!164.3095-h166bdaf_2.tar.bz2 sha256: 175315eb3d6ea1f64a6ce470be00fa2ee59980108f246d3072ab8b977cb048a5 md5: 6c99772d483f566d59e25037fea2c4b1 diff --git a/pyproject.toml b/pyproject.toml index 53d2051..cfca3f3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,10 +32,8 @@ dependencies = [ "ipdb>=0.13.13,<0.14", "addict==2.4.0", "mujoco>=3.2.7,<3.3", - "tensorflow-datasets>=4.9.8,<5", - "tensorflow-cpu>=2.19.0,<3", "google-genai>=1.11.0,<2", - "peft>=0.15.2,<0.16", + "peft>=0.17,<0.18", "decord>=0.6.0,<0.7", "mink>=0.0.11,<0.0.12", ] @@ -96,7 +94,7 @@ spconv-cu124 = "*" torch_geometric = "<2.3" lerobot = { git = "https://github.com/r-pad/lerobot.git", rev = "33e6e4cf090331e2fa23616007718a63aa35bd77" } -# Git dependencies as tasks +# Problematic dependencies as tasks [tool.pixi.tasks] install-pyg = """ pip install pyg_lib torch_scatter torch_sparse torch_cluster torch_spline_conv -f https://data.pyg.org/whl/torch-2.6.0+cu124.html @@ -109,6 +107,7 @@ install-rpad-libs = "pip install git+https://github.com/r-pad/pyg_libs.git git+h install-torchdatasets = "pip install git+https://github.com/sriramsk1999/torchdatasets.git" install-segment-anything = "pip install git+https://github.com/facebookresearch/segment-anything.git" install-mano = "pip install git+https://github.com/hassony2/chumpy.git git+https://github.com/hassony2/manopth.git" +install-tf = "pip install tensorflow-datasets<5 tensorflow-cpu<3" install-deps = { depends-on = [ "install-open3d", "install-pyg", @@ -117,6 +116,7 @@ install-deps = { depends-on = [ "install-torchdatasets", "install-segment-anything", "install-mano", + "install-tf", ] } setup-pre-commit = "pre-commit install" From 10007b3a8630e86af11b26c08eb91f0c01bc528a Mon Sep 17 00:00:00 2001 From: Sriram Krishna Date: Sat, 3 Jan 2026 01:04:06 -0500 Subject: [PATCH 3/3] update lerobot deps --- pixi.lock | 6 +++--- pyproject.toml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/pixi.lock b/pixi.lock index 31c69db..6a99162 100644 --- a/pixi.lock +++ b/pixi.lock @@ -319,7 +319,7 @@ environments: - pypi: https://files.pythonhosted.org/packages/ed/f1/82ea8e783433707cafd9790099a2d19f113c22f32a31c8bb5abdc7a61dbb/jupytext-1.17.2-py3-none-any.whl - pypi: https://files.pythonhosted.org/packages/de/c6/7b9bb8044e150d4d1558423a1568e4f227193662a02231064e3824f37e0a/kiwisolver-1.4.8-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl - pypi: https://files.pythonhosted.org/packages/2d/00/d90b10b962b4277f5e64a78b6609968859ff86889f5b898c1a778c06ec00/lark-1.2.2-py3-none-any.whl - - pypi: git+https://github.com/r-pad/lerobot.git?rev=33e6e4cf090331e2fa23616007718a63aa35bd77#33e6e4cf090331e2fa23616007718a63aa35bd77 + - pypi: git+https://github.com/r-pad/lerobot.git?rev=825eaf8086a4929b107ff907268069694ed5bf7b#825eaf8086a4929b107ff907268069694ed5bf7b - pypi: git+https://github.com/sriramsk1999/LIBERO.git?rev=15a91548acf90c6f502a99c21ca18792c5ae8256#15a91548acf90c6f502a99c21ca18792c5ae8256 - pypi: https://files.pythonhosted.org/packages/16/2a/d5de2884759ca5eb1103200c1c3b9c5df362250020870a1556d19d15a6d1/lightning_utilities-0.11.7-py3-none-any.whl - pypi: https://files.pythonhosted.org/packages/aa/46/8ffbc114def88cc698906bf5acab54ca9fdf9214fe04aed0e71731fb3688/llvmlite-0.44.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl @@ -3451,7 +3451,7 @@ packages: purls: [] size: 671240 timestamp: 1740155456116 -- pypi: git+https://github.com/r-pad/lerobot.git?rev=33e6e4cf090331e2fa23616007718a63aa35bd77#33e6e4cf090331e2fa23616007718a63aa35bd77 +- pypi: git+https://github.com/r-pad/lerobot.git?rev=825eaf8086a4929b107ff907268069694ed5bf7b#825eaf8086a4929b107ff907268069694ed5bf7b name: lerobot version: 0.1.0 requires_dist: @@ -3521,7 +3521,7 @@ packages: - pypi: . name: lfd3d version: 0.1.0 - sha256: 93a4701f7d602e05a1dd8d5040cefaed7bfed6dc102d4d0719b031acabbb1ae0 + sha256: dfca697c602714453dd8cc25600627077dd3034ee8abf63d0dd1f316f2634399 requires_dist: - diffusers>=0.26.3 - gif diff --git a/pyproject.toml b/pyproject.toml index cfca3f3..73ac84f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -92,7 +92,7 @@ wheel = "*" ninja = "*" spconv-cu124 = "*" torch_geometric = "<2.3" -lerobot = { git = "https://github.com/r-pad/lerobot.git", rev = "33e6e4cf090331e2fa23616007718a63aa35bd77" } +lerobot = { git = "https://github.com/r-pad/lerobot.git", rev = "825eaf8086a4929b107ff907268069694ed5bf7b" } # Problematic dependencies as tasks [tool.pixi.tasks]