Improve pi0 (WIP)

lerobot/common/policies/pi0/configuration_pi0.py

@@ -61,6 +61,10 @@ class PI0Config(PreTrainedConfig):
     train_expert_only: bool = False
     train_state_proj: bool = True
 
+    # Useful if you want to reproduce the training of pi0_base from
+    # the original initialization of PaliGemma (before training on robotics data).
+    paligemma_pretrained_path: str | None = "google/paligemma-3b-pt-224"
+
     # Training presets
     optimizer_lr: float = 2.5e-5
     optimizer_betas: tuple[float, float] = (0.9, 0.95)

lerobot/common/policies/pi0/conversion_scripts/compare_with_jax.py

@@ -52,6 +52,12 @@ def main():
     dataset_meta.stats["observation.state"]["std"] = torch.tensor(
         norm_stats["norm_stats"]["state"]["std"][:num_motors], dtype=torch.float32
     )
+    dataset_meta.stats["action"]["mean"] = torch.tensor(
+        norm_stats["norm_stats"]["actions"]["mean"][:num_motors], dtype=torch.float32
+    )
+    dataset_meta.stats["action"]["std"] = torch.tensor(
+        norm_stats["norm_stats"]["actions"]["std"][:num_motors], dtype=torch.float32
+    )
 
     # Create LeRobot batch from Jax
     batch = {}

lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py

@@ -346,17 +346,20 @@ def convert_pi0_checkpoint(checkpoint_dir: str, precision: str, tokenizer_id: st
             empty_cameras=2,
             adapt_to_pi_aloha=True,
             use_delta_joint_actions_aloha=False,
+            paligemma_pretrained_path=None,
         )
     elif "pi0_aloha_towel" in checkpoint_dir:
         pi0_config = PI0Config(
             adapt_to_pi_aloha=True,
             use_delta_joint_actions_aloha=True,
+            paligemma_pretrained_path=None,
         )
     elif "pi0_base" in checkpoint_dir:
         pi0_config = PI0Config(
             empty_cameras=0,
             adapt_to_pi_aloha=False,
             use_delta_joint_actions_aloha=False,
+            paligemma_pretrained_path=None,
         )
     else:
         raise ValueError()

lerobot/common/policies/pi0/modeling_pi0.py

@@ -44,7 +44,7 @@ python lerobot/scripts/train.py \
 
 Example of using the pi0 pretrained model outside LeRobot training framework:
 ```python
-policy = Pi0Policy.from_pretrained("lerobot/pi0")
+policy = PI0Policy.from_pretrained("lerobot/pi0")
 ```
 
 """
@@ -470,6 +470,7 @@ class PI0FlowMatching(nn.Module):
         paligemma_with_export_config = PaliGemmaWithExpertConfig(
             freeze_vision_encoder=self.config.freeze_vision_encoder,
             train_expert_only=self.config.train_expert_only,
+            paligemma_pretrained_path=self.config.paligemma_pretrained_path,
             attention_implementation=self.config.attention_implementation,
         )
         self.paligemma_with_expert = PaliGemmaWithExpertModel(paligemma_with_export_config)

lerobot/common/policies/pi0/paligemma_with_expert.py

@@ -6,6 +6,7 @@ from pytest import Cache
 from torch import nn
 from transformers import (
     AutoConfig,
+    AutoModel,
     GemmaForCausalLM,
     PaliGemmaForConditionalGeneration,
     PretrainedConfig,
@@ -52,11 +53,13 @@ class PaliGemmaWithExpertConfig(PretrainedConfig):
         gemma_expert_config: dict | None = None,
         freeze_vision_encoder: bool = True,
         train_expert_only: bool = True,
+        paligemma_pretrained_path: str | None = "google/paligemma-3b-pt-224",
         attention_implementation: str = "eager",
         **kwargs,
     ):
         self.freeze_vision_encoder = freeze_vision_encoder
         self.train_expert_only = train_expert_only
+        self.paligemma_pretrained_path = paligemma_pretrained_path
         self.attention_implementation = attention_implementation
 
         if paligemma_config is None:
@@ -153,6 +156,11 @@ class PaliGemmaWithExpertConfig(PretrainedConfig):
                 f"Wrong value provided for `attention_implementation` ({self.attention_implementation}). Expected 'eager', 'fa2' or 'flex'."
             )
 
+        if self.paligemma_pretrained_path is not None and self.paligemma_config is not None:
+            raise ValueError(
+                "When 'paligemma_pretrained_path' is provided, 'paligemma_config' needs to be None."
+            )
+
 
 class PaliGemmaWithExpertModel(PreTrainedModel):
     config_class = PaliGemmaWithExpertConfig
@@ -160,6 +168,9 @@ class PaliGemmaWithExpertModel(PreTrainedModel):
     def __init__(self, config: PaliGemmaWithExpertConfig):
         super().__init__(config=config)
         self.config = config
+        if config.paligemma_pretrained_path is not None:
+            self.paligemma = AutoModel(config.paligemma_pretrained_path)
+        else:
             self.paligemma = PaliGemmaForConditionalGeneration(config=config.paligemma_config)
         self.gemma_expert = GemmaForCausalLM(config=config.gemma_expert_config)
         # Remove unused embed_tokens