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# Copyright 2024 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 abc
import logging
import os
from importlib.resources import files
from pathlib import Path
from tempfile import TemporaryDirectory
from typing import List, Type, TypeVar
import packaging
import safetensors
from huggingface_hub import HfApi, ModelCard, ModelCardData, hf_hub_download
from huggingface_hub.constants import SAFETENSORS_SINGLE_FILE
from huggingface_hub.errors import HfHubHTTPError
from safetensors.torch import load_model as load_model_as_safetensor
from safetensors.torch import save_model as save_model_as_safetensor
from torch import Tensor, nn
from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.utils.hub import HubMixin
T = TypeVar("T", bound="PreTrainedPolicy")
class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
"""
Base class for policy models.
"""
config_class: None
name: None
def __init__(self, config: PreTrainedConfig, *inputs, **kwargs):
super().__init__()
if not isinstance(config, PreTrainedConfig):
raise ValueError(
f"Parameter config in `{self.__class__.__name__}(config)` should be an instance of class "
"`PreTrainedConfig`. To create a model from a pretrained model use "
f"`model = {self.__class__.__name__}.from_pretrained(PRETRAINED_MODEL_NAME)`"
)
self.config = config
def __init_subclass__(cls, **kwargs):
super().__init_subclass__(**kwargs)
if not getattr(cls, "config_class", None):
raise TypeError(f"Class {cls.__name__} must define 'config_class'")
if not getattr(cls, "name", None):
raise TypeError(f"Class {cls.__name__} must define 'name'")
def _save_pretrained(self, save_directory: Path) -> None:
self.config._save_pretrained(save_directory)
model_to_save = self.module if hasattr(self, "module") else self
save_model_as_safetensor(model_to_save, str(save_directory / SAFETENSORS_SINGLE_FILE))
@classmethod
def from_pretrained(
cls: Type[T],
pretrained_name_or_path: str | Path,
*,
config: PreTrainedConfig | None = None,
force_download: bool = False,
resume_download: bool | None = None,
proxies: dict | None = None,
token: str | bool | None = None,
cache_dir: str | Path | None = None,
local_files_only: bool = False,
revision: str | None = None,
strict: bool = False,
**kwargs,
) -> T:
"""
The policy is set in evaluation mode by default using `policy.eval()` (dropout modules are
deactivated). To train it, you should first set it back in training mode with `policy.train()`.
"""
if config is None:
config = PreTrainedConfig.from_pretrained(
pretrained_name_or_path=pretrained_name_or_path,
force_download=force_download,
resume_download=resume_download,
proxies=proxies,
token=token,
cache_dir=cache_dir,
local_files_only=local_files_only,
revision=revision,
**kwargs,
)
model_id = str(pretrained_name_or_path)
instance = cls(config, **kwargs)
if os.path.isdir(model_id):
print("Loading weights from local directory")
model_file = os.path.join(model_id, SAFETENSORS_SINGLE_FILE)
policy = cls._load_as_safetensor(instance, model_file, config.device, strict)
else:
try:
model_file = hf_hub_download(
repo_id=model_id,
filename=SAFETENSORS_SINGLE_FILE,
revision=revision,
cache_dir=cache_dir,
force_download=force_download,
proxies=proxies,
resume_download=resume_download,
token=token,
local_files_only=local_files_only,
)
policy = cls._load_as_safetensor(instance, model_file, config.device, strict)
except HfHubHTTPError as e:
raise FileNotFoundError(
f"{SAFETENSORS_SINGLE_FILE} not found on the HuggingFace Hub in {model_id}"
) from e
policy.to(config.device)
policy.eval()
return policy
@classmethod
def _load_as_safetensor(cls, model: T, model_file: str, map_location: str, strict: bool) -> T:
if packaging.version.parse(safetensors.__version__) < packaging.version.parse("0.4.3"):
load_model_as_safetensor(model, model_file, strict=strict)
if map_location != "cpu":
logging.warning(
"Loading model weights on other devices than 'cpu' is not supported natively in your version of safetensors."
" This means that the model is loaded on 'cpu' first and then copied to the device."
" This leads to a slower loading time."
" Please update safetensors to version 0.4.3 or above for improved performance."
)
model.to(map_location)
else:
safetensors.torch.load_model(model, model_file, strict=strict, device=map_location)
return model
@abc.abstractmethod
def get_optim_params(self) -> dict:
"""
Returns the policy-specific parameters dict to be passed on to the optimizer.
"""
raise NotImplementedError
@abc.abstractmethod
def reset(self):
"""To be called whenever the environment is reset.
Does things like clearing caches.
"""
raise NotImplementedError
# TODO(aliberts, rcadene): split into 'forward' and 'compute_loss'?
@abc.abstractmethod
def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict | None]:
"""_summary_
Args:
batch (dict[str, Tensor]): _description_
Returns:
tuple[Tensor, dict | None]: The loss and potentially other information. Apart from the loss which
is a Tensor, all other items should be logging-friendly, native Python types.
"""
raise NotImplementedError
@abc.abstractmethod
def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
"""Returns the action chunk (for action chunking policies) for a given observation, potentially in batch mode.
Child classes using action chunking should use this method within `select_action` to form the action chunk
cached for selection.
"""
raise NotImplementedError
@abc.abstractmethod
def select_action(self, batch: dict[str, Tensor]) -> Tensor:
"""Return one action to run in the environment (potentially in batch mode).
When the model uses a history of observations, or outputs a sequence of actions, this method deals
with caching.
"""
raise NotImplementedError
def push_model_to_hub(
self,
cfg: TrainPipelineConfig,
):
api = HfApi()
repo_id = api.create_repo(
repo_id=self.config.repo_id, private=self.config.private, exist_ok=True
).repo_id
# Push the files to the repo in a single commit
with TemporaryDirectory(ignore_cleanup_errors=True) as tmp:
saved_path = Path(tmp) / repo_id
self.save_pretrained(saved_path) # Calls _save_pretrained and stores model tensors
card = self.generate_model_card(
cfg.dataset.repo_id, self.config.type, self.config.license, self.config.tags
)
card.save(str(saved_path / "README.md"))
cfg.save_pretrained(saved_path) # Calls _save_pretrained and stores train config
commit_info = api.upload_folder(
repo_id=repo_id,
repo_type="model",
folder_path=saved_path,
commit_message="Upload policy weights, train config and readme",
allow_patterns=["*.safetensors", "*.json", "*.yaml", "*.md"],
ignore_patterns=["*.tmp", "*.log"],
)
logging.info(f"Model pushed to {commit_info.repo_url.url}")
def generate_model_card(
self, dataset_repo_id: str, model_type: str, license: str | None, tags: List[str] | None
) -> ModelCard:
base_model = "lerobot/smolvla_base" if model_type == "smolvla" else None # Set a base model
card_data = ModelCardData(
license=license or "apache-2.0",
library_name="lerobot",
pipeline_tag="robotics",
tags=list(set(tags or []).union({"robotics", "lerobot", model_type})),
model_name=model_type,
datasets=dataset_repo_id,
base_model=base_model,
)
template_card = files("lerobot.templates").joinpath("lerobot_modelcard_template.md").read_text()
card = ModelCard.from_template(card_data, template_str=template_card)
card.validate()
return card
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