add license

lerobot/common/policies/dexvla/configuration_dexvla.py

@@ -1,4 +1,6 @@
-# Copyright 2024 The Qwen team, Alibaba Group and the HuggingFace Inc. team. All rights reserved.
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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.
@@ -11,6 +13,7 @@
 # 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.
+
 """Qwen2VL model configuration"""
 
 from dataclasses import dataclass, field

lerobot/common/policies/dexvla/fusion_modules.py

@@ -1,5 +1,20 @@
-import torch.nn as nn
+#!/usr/bin/env python
 
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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 torch.nn as nn
 
 class ActionProjector(nn.Module):
     def __init__(self, in_dim, out_dim=1024):

lerobot/common/policies/dexvla/modeling_dexvla.py

@@ -1,3 +1,19 @@
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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.
+
 from collections import deque
 
 import torch

lerobot/common/policies/dexvla/policy_heads/__init__.py

@@ -1,3 +1,19 @@
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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.
+
 from transformers import AutoConfig, AutoModel
 
 from .configuration_scaledp import ScaleDPPolicyConfig

lerobot/common/policies/dexvla/policy_heads/configuration_scaledp.py

@@ -1,3 +1,20 @@
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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 os
 from typing import Union
 

lerobot/common/policies/dexvla/policy_heads/configuration_unet_diffusion.py

@@ -1,3 +1,19 @@
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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 os
 from typing import Union
 

lerobot/common/policies/dexvla/policy_heads/modeling_scaledp.py

@@ -1,5 +1,19 @@
-# Copyright (c) Meta Platforms, Inc. and affiliates.
-# All rights reserved.
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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 logging
 import math
 from typing import Tuple

lerobot/common/policies/dexvla/policy_heads/modeling_unet_diffusion.py

@@ -1,6 +1,18 @@
-"""
-Implementation of Diffusion Policy https://diffusion-policy.cs.columbia.edu/ by Cheng Chi
-"""
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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 copy
 import math

lerobot/common/policies/dexvla/qwe2_vla/__init__.py

@@ -1,3 +1,19 @@
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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.
+
 from transformers import AutoConfig, AutoModelForCausalLM
 
 from .configuration_qwen2_vla import Qwen2VLAConfig

lerobot/common/policies/dexvla/qwe2_vla/configuration_qwen2_vla.py

@@ -1,4 +1,6 @@
-# Copyright 2024 The Qwen team, Alibaba Group and the HuggingFace Inc. team. All rights reserved.
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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.
@@ -11,7 +13,6 @@
 # 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.
-"""Qwen2VL model configuration"""
 
 import os
 from typing import Union

lerobot/common/policies/dexvla/qwe2_vla/modeling_qwen2_vla.py

@@ -1,9 +1,6 @@
-# Copyright 2024 The Qwen team, Alibaba Group and the HuggingFace Inc. team. All rights reserved.
-#
-# This code is based on EleutherAI's GPT-NeoX library and the GPT-NeoX
-# and OPT implementations in this library. It has been modified from its
-# original forms to accommodate minor architectural differences compared
-# to GPT-NeoX and OPT used by the Meta AI team that trained the model.
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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.

lerobot/common/policies/dexvla/robot_data_processor.py

@@ -1,9 +1,24 @@
+#!/usr/bin/env python
+
+# Copyright 2025 DexVLA Team and The HuggingFace Inc. team. 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 numpy as np
 import torch
 from PIL import Image
 from qwen_vl_utils import fetch_image
 
-
 class Qwen2VLAProcess:
     def __init__(
         self,