Merge remote-tracking branch 'origin/2025_02_20_add_dexvla' into 2025_02_20_add_dexvla

lerobot/common/policies/dexvla/configuration_dexvla.py

@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 """Qwen2VL model configuration"""
-from .policy_heads import register_policy_heads
-from .qwe2_vla import register_qwen2_vla
 
 from dataclasses import dataclass, field
 from typing import Tuple
@@ -29,6 +27,9 @@ from lerobot.common.optim.schedulers import (
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import NormalizationMode
 
+from .policy_heads import register_policy_heads
+from .qwe2_vla import register_qwen2_vla
+
 logger = logging.get_logger(__name__)
 register_policy_heads()
 register_qwen2_vla()

lerobot/common/policies/dexvla/modeling_dexvla.py

@@ -2,6 +2,7 @@ from collections import deque
 
 import torch
 import torchvision.transforms as transforms
+from safetensors.torch import load_file
 from torch import Tensor
 from transformers import AutoModelForCausalLM, AutoProcessor, AutoTokenizer
 
@@ -11,10 +12,6 @@ from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.pretrained import PreTrainedPolicy
 
 
-from collections import deque
-from transformers import AutoProcessor, AutoTokenizer, AutoModelForCausalLM
-import torchvision.transforms as transforms
-from safetensors.torch import load_file
 class DexVLAPolicy(PreTrainedPolicy):
     """Wrapper class around Qwen2VLForConditionalGenerationForVLA model to train and run inference within LeRobot."""