feat(policy): 引入gr00t(DiT)

- 现在使用顶部相机、右手腕相机。

roboimi/demos/config.yaml

@@ -8,7 +8,7 @@ temporal_agg: false
 
 # policy_class: "ACT"
 # backbone: 'resnet18'
-policy_class: "ACTTV"
+policy_class: "GR00T"
 backbone: 'dino_v2'
 
 seed: 0
@@ -51,6 +51,21 @@ nheads: 8
 qpos_noise_std: 0
 DT: 0.02
 
+gr00t:
+  action_dim: 16
+  state_dim: 16
+  embed_dim: 1536
+  hidden_dim: 1024
+  num_queries: 8
+
+  nheads: 32
+  mlp_ratio: 4
+  dropout: 0.2
+
+  num_layers: 16
+
+
+
 # DO NOT CHANGE IF UNNECESSARY
 lr: 0.00001             
 kl_weight: 100              

roboimi/demos/diana_eval.py

@@ -71,11 +71,10 @@ def run_episode(config, policy, stats, save_episode,num_rollouts):
                 qpos = pre_process(qpos_numpy)
                 qpos = torch.from_numpy(qpos).float().cuda().unsqueeze(0)
                 curr_image = get_image(env._get_image_obs(), config['camera_names'])
-                if config['policy_class'] == "ACT" or "ACTTV":
+                if config['policy_class'] in ["ACT", "ACTTV", "GR00T"]:
                     if t % query_frequency == 0:
                         all_actions = policy(qpos, curr_image)
                     raw_action = all_actions[:, t % query_frequency]
-                    # raw_action = all_actions[:, t % 1]
                     raw_action = raw_action.squeeze(0).cpu().numpy()
                 elif config['policy_class'] == "CNNMLP":
                     raw_action = policy(qpos, curr_image)

roboimi/gr00t/main.py

@@ -0,0 +1,125 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+GR00T (diffusion-based DiT policy) model builder.
+
+This module provides functions to build GR00T models and optimizers
+from configuration dictionaries (typically from config.yaml's 'gr00t:' section).
+"""
+import argparse
+from pathlib import Path
+
+import numpy as np
+import torch
+from .models import build_gr00t_model
+
+
+def get_args_parser():
+    """
+    Create argument parser for GR00T model configuration.
+
+    All parameters can be overridden via args_override dictionary in
+    build_gr00t_model_and_optimizer(). This allows loading from config.yaml.
+    """
+    parser = argparse.ArgumentParser('GR00T training and evaluation script', add_help=False)
+
+    # Training parameters
+    parser.add_argument('--lr', default=1e-5, type=float,
+                        help='Learning rate for main parameters')
+    parser.add_argument('--lr_backbone', default=1e-5, type=float,
+                        help='Learning rate for backbone parameters')
+    parser.add_argument('--weight_decay', default=1e-4, type=float,
+                        help='Weight decay for optimizer')
+
+    # GR00T model architecture parameters
+    parser.add_argument('--embed_dim', default=1536, type=int,
+                        help='Embedding dimension for transformer')
+    parser.add_argument('--hidden_dim', default=1024, type=int,
+                        help='Hidden dimension for MLP layers')
+    parser.add_argument('--state_dim', default=16, type=int,
+                        help='State (qpos) dimension')
+    parser.add_argument('--action_dim', default=16, type=int,
+                        help='Action dimension')
+    parser.add_argument('--num_queries', default=16, type=int,
+                        help='Number of action queries (chunk size)')
+
+    # DiT (Diffusion Transformer) parameters
+    parser.add_argument('--num_layers', default=16, type=int,
+                        help='Number of transformer layers')
+    parser.add_argument('--nheads', default=32, type=int,
+                        help='Number of attention heads')
+    parser.add_argument('--mlp_ratio', default=4, type=float,
+                        help='MLP hidden dimension ratio')
+    parser.add_argument('--dropout', default=0.2, type=float,
+                        help='Dropout rate')
+
+    # Backbone parameters
+    parser.add_argument('--backbone', default='dino_v2', type=str,
+                        help='Backbone architecture (dino_v2, resnet18, resnet34)')
+    parser.add_argument('--position_embedding', default='sine', type=str,
+                        choices=('sine', 'learned'),
+                        help='Type of positional encoding')
+
+    # Camera configuration
+    parser.add_argument('--camera_names', default=[], nargs='+',
+                        help='List of camera names for observations')
+
+    # Other parameters (not directly used but kept for compatibility)
+    parser.add_argument('--batch_size', default=15, type=int)
+    parser.add_argument('--epochs', default=20000, type=int)
+    parser.add_argument('--masks', action='store_true',
+                        help='Use intermediate layer features')
+    parser.add_argument('--dilation', action='store_false',
+                        help='Use dilated convolution in backbone')
+
+    return parser
+
+
+def build_gr00t_model_and_optimizer(args_override):
+    """
+    Build GR00T model and optimizer from config dictionary.
+
+    This function is designed to work with config.yaml loading:
+    1. Parse default arguments
+    2. Override with values from args_override (typically from config['gr00t'])
+    3. Build model and optimizer
+
+    Args:
+        args_override: Dictionary of config values, typically from config.yaml's 'gr00t:' section
+                      Expected keys: embed_dim, hidden_dim, state_dim, action_dim,
+                                     num_queries, nheads, mlp_ratio, dropout, num_layers,
+                                     lr, lr_backbone, camera_names, backbone, etc.
+
+    Returns:
+        model: GR00T model on CUDA
+        optimizer: AdamW optimizer with separate learning rates for backbone and other params
+    """
+    parser = argparse.ArgumentParser('GR00T training and evaluation script',
+                                     parents=[get_args_parser()])
+    args = parser.parse_args()
+
+    # Override with config values
+    for k, v in args_override.items():
+        setattr(args, k, v)
+
+    # Build model
+    model = build_gr00t_model(args)
+    model.cuda()
+
+    # Create parameter groups with different learning rates
+    param_dicts = [
+        {
+            "params": [p for n, p in model.named_parameters()
+                      if "backbone" not in n and p.requires_grad]
+        },
+        {
+            "params": [p for n, p in model.named_parameters()
+                      if "backbone" in n and p.requires_grad],
+            "lr": args.lr_backbone,
+        },
+    ]
+
+    optimizer = torch.optim.AdamW(param_dicts,
+                                  lr=args.lr,
+                                  weight_decay=args.weight_decay)
+
+    return model, optimizer

roboimi/gr00t/models/__init__.py

@@ -0,0 +1,3 @@
+from .gr00t import build_gr00t_model
+
+__all__ = ['build_gr00t_model']

roboimi/gr00t/models/backbone.py

@@ -0,0 +1,168 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Backbone modules.
+"""
+from collections import OrderedDict
+
+import torch
+import torch.nn.functional as F
+import torchvision
+from torch import nn
+from torchvision.models._utils import IntermediateLayerGetter
+from typing import Dict, List
+
+from util.misc import NestedTensor, is_main_process
+
+from .position_encoding import build_position_encoding
+
+class FrozenBatchNorm2d(torch.nn.Module):
+    """
+    BatchNorm2d where the batch statistics and the affine parameters are fixed.
+
+    Copy-paste from torchvision.misc.ops with added eps before rqsrt,
+    without which any other policy_models than torchvision.policy_models.resnet[18,34,50,101]
+    produce nans.
+    """
+
+    def __init__(self, n):
+        super(FrozenBatchNorm2d, self).__init__()
+        self.register_buffer("weight", torch.ones(n))
+        self.register_buffer("bias", torch.zeros(n))
+        self.register_buffer("running_mean", torch.zeros(n))
+        self.register_buffer("running_var", torch.ones(n))
+
+    def _load_from_state_dict(self, state_dict, prefix, local_metadata, strict,
+                              missing_keys, unexpected_keys, error_msgs):
+        num_batches_tracked_key = prefix + 'num_batches_tracked'
+        if num_batches_tracked_key in state_dict:
+            del state_dict[num_batches_tracked_key]
+
+        super(FrozenBatchNorm2d, self)._load_from_state_dict(
+            state_dict, prefix, local_metadata, strict,
+            missing_keys, unexpected_keys, error_msgs)
+
+    def forward(self, x):
+        # move reshapes to the beginning
+        # to make it fuser-friendly
+        w = self.weight.reshape(1, -1, 1, 1)
+        b = self.bias.reshape(1, -1, 1, 1)
+        rv = self.running_var.reshape(1, -1, 1, 1)
+        rm = self.running_mean.reshape(1, -1, 1, 1)
+        eps = 1e-5
+        scale = w * (rv + eps).rsqrt()
+        bias = b - rm * scale
+        return x * scale + bias
+
+
+class BackboneBase(nn.Module):
+
+    def __init__(self, backbone: nn.Module, train_backbone: bool, num_channels: int, return_interm_layers: bool):
+        super().__init__()
+        # for name, parameter in backbone.named_parameters(): # only train later layers # TODO do we want this?
+        #     if not train_backbone or 'layer2' not in name and 'layer3' not in name and 'layer4' not in name:
+        #         parameter.requires_grad_(False)
+        if return_interm_layers:
+            return_layers = {"layer1": "0", "layer2": "1", "layer3": "2", "layer4": "3"}
+        else:
+            return_layers = {'layer4': "0"}
+        self.body = IntermediateLayerGetter(backbone, return_layers=return_layers)
+        self.num_channels = num_channels
+
+    def forward(self, tensor):
+        xs = self.body(tensor)
+        return xs
+        # out: Dict[str, NestedTensor] = {}
+        # for name, x in xs.items():
+        #     m = tensor_list.mask
+        #     assert m is not None
+        #     mask = F.interpolate(m[None].float(), size=x.shape[-2:]).to(torch.bool)[0]
+        #     out[name] = NestedTensor(x, mask)
+        # return out
+
+
+class Backbone(BackboneBase):
+    """ResNet backbone with frozen BatchNorm."""
+    def __init__(self, name: str,
+                 train_backbone: bool,
+                 return_interm_layers: bool,
+                 dilation: bool):
+        backbone = getattr(torchvision.models, name)(
+            replace_stride_with_dilation=[False, False, dilation],
+            pretrained=is_main_process(), norm_layer=FrozenBatchNorm2d) # pretrained # TODO do we want frozen batch_norm??
+        num_channels = 512 if name in ('resnet18', 'resnet34') else 2048
+        super().__init__(backbone, train_backbone, num_channels, return_interm_layers)
+
+
+# class DINOv2BackBone(nn.Module):
+#     def __init__(self) -> None:
+#         super().__init__()
+#         self.body = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14')
+#         self.body.eval()
+#         self.num_channels = 384
+    
+#     @torch.no_grad()
+#     def forward(self, tensor):
+#         xs = self.body.forward_features(tensor)["x_norm_patchtokens"]
+#         od = OrderedDict()
+#         od["0"] = xs.reshape(xs.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+#         return od
+
+class DINOv2BackBone(nn.Module):
+    def __init__(self, return_interm_layers: bool = False) -> None:
+        super().__init__()
+        self.body = torch.hub.load('facebookresearch/dinov2', 'dinov2_vits14')
+        self.body.eval()
+        self.num_channels = 384
+        self.return_interm_layers = return_interm_layers
+    
+    @torch.no_grad()
+    def forward(self, tensor):
+        features = self.body.forward_features(tensor)
+
+        if self.return_interm_layers:
+
+            layer1 = features["x_norm_patchtokens"]  
+            layer2 = features["x_norm_patchtokens"]  
+            layer3 = features["x_norm_patchtokens"]  
+            layer4 = features["x_norm_patchtokens"]  
+
+            od = OrderedDict()
+            od["0"] = layer1.reshape(layer1.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            od["1"] = layer2.reshape(layer2.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            od["2"] = layer3.reshape(layer3.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            od["3"] = layer4.reshape(layer4.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            return od
+        else:
+            xs = features["x_norm_patchtokens"]
+            od = OrderedDict()
+            od["0"] = xs.reshape(xs.shape[0], 22, 16, 384).permute(0, 3, 2, 1)
+            return od
+    
+class Joiner(nn.Sequential):
+    def __init__(self, backbone, position_embedding):
+        super().__init__(backbone, position_embedding)
+
+    def forward(self, tensor_list: NestedTensor):
+        xs = self[0](tensor_list)
+        out: List[NestedTensor] = []
+        pos = []
+        for name, x in xs.items():
+            out.append(x)
+            # position encoding
+            pos.append(self[1](x).to(x.dtype))
+
+        return out, pos
+
+
+def build_backbone(args):
+    position_embedding = build_position_encoding(args)
+    train_backbone = args.lr_backbone > 0
+    return_interm_layers = args.masks
+    if args.backbone == 'dino_v2':
+        backbone = DINOv2BackBone()
+    else:
+        assert args.backbone in ['resnet18', 'resnet34']
+        backbone = Backbone(args.backbone, train_backbone, return_interm_layers, args.dilation)
+    model = Joiner(backbone, position_embedding)
+    model.num_channels = backbone.num_channels
+    return model

roboimi/gr00t/models/dit.py

@@ -0,0 +1,142 @@
+from typing import Optional
+
+from diffusers import ConfigMixin, ModelMixin
+from diffusers.configuration_utils import register_to_config
+from diffusers.models.embeddings import SinusoidalPositionalEmbedding, TimestepEmbedding, Timesteps
+import torch
+from torch import nn
+import torch.nn.functional as F
+
+class TimestepEncoder(nn.Module):
+    def __init__(self, args):
+        super().__init__()
+        embedding_dim = args.embed_dim
+        self.time_proj = Timesteps(num_channels=256, flip_sin_to_cos=True, downscale_freq_shift=1)
+        self.timestep_embedder = TimestepEmbedding(in_channels=256, time_embed_dim=embedding_dim)
+
+    def forward(self, timesteps):
+        dtype = next(self.parameters()).dtype
+        timesteps_proj = self.time_proj(timesteps).to(dtype)
+        timesteps_emb = self.timestep_embedder(timesteps_proj)  # (N, D)
+        return timesteps_emb
+
+
+class AdaLayerNorm(nn.Module):
+    def __init__(self, embedding_dim, norm_eps=1e-5, norm_elementwise_affine=False):
+        super().__init__()
+
+        output_dim = embedding_dim * 2
+        self.silu = nn.SiLU()
+        self.linear = nn.Linear(embedding_dim, output_dim)
+        self.norm = nn.LayerNorm(output_dim // 2, norm_eps, norm_elementwise_affine)
+
+    def forward(
+        self,
+        x: torch.Tensor,
+        temb: Optional[torch.Tensor] = None,
+    ) -> torch.Tensor:
+        temb = self.linear(self.silu(temb))
+        scale, shift = temb.chunk(2, dim=1)
+        x = self.norm(x) * (1 + scale[:, None]) + shift[:, None]
+        return x
+    
+
+class BasicTransformerBlock(nn.Module):
+    def __init__(self, args, crosss_attention_dim, use_self_attn=False):
+        super().__init__()
+        dim = args.embed_dim
+        num_heads = args.nheads
+        mlp_ratio = args.mlp_ratio
+        dropout = args.dropout
+        self.norm1 = AdaLayerNorm(dim)
+        
+        if not use_self_attn:
+            self.attn = nn.MultiheadAttention(
+                embed_dim=dim,
+                num_heads=num_heads,
+                dropout=dropout,
+                kdim=crosss_attention_dim,
+                vdim=crosss_attention_dim,
+                batch_first=True,
+            )
+        else:
+            self.attn = nn.MultiheadAttention(
+                embed_dim=dim,
+                num_heads=num_heads,
+                dropout=dropout,
+                batch_first=True,
+            )
+
+        self.norm2 = nn.LayerNorm(dim, eps=1e-5, elementwise_affine=False)
+
+        self.mlp = nn.Sequential(
+            nn.Linear(dim, dim * mlp_ratio),
+            nn.GELU(),
+            nn.Dropout(dropout),
+            nn.Linear(dim * mlp_ratio, dim),
+            nn.Dropout(dropout)
+        )
+
+    def forward(self, hidden_states, temb, context=None):
+        norm_hidden_states = self.norm1(hidden_states, temb)
+
+        attn_output = self.attn(
+            norm_hidden_states,
+            context if context is not None else norm_hidden_states,
+            context if context is not None else norm_hidden_states,
+        )[0]
+
+        hidden_states = attn_output + hidden_states
+
+        norm_hidden_states = self.norm2(hidden_states)
+
+        ff_output = self.mlp(norm_hidden_states)
+
+        hidden_states = ff_output + hidden_states
+
+        return hidden_states
+    
+class DiT(nn.Module):
+    def __init__(self, args, cross_attention_dim):
+        super().__init__()
+        inner_dim = args.embed_dim
+        num_layers = args.num_layers
+        output_dim = args.hidden_dim
+
+        self.timestep_encoder = TimestepEncoder(args)
+
+        all_blocks = []
+        for idx in range(num_layers):
+            use_self_attn = idx % 2 == 1
+            if use_self_attn:
+                block = BasicTransformerBlock(args, crosss_attention_dim=None, use_self_attn=True)
+            else:
+                block = BasicTransformerBlock(args, crosss_attention_dim=cross_attention_dim, use_self_attn=False)
+            all_blocks.append(block)
+
+        self.transformer_blocks = nn.ModuleList(all_blocks)
+
+        self.norm_out = nn.LayerNorm(inner_dim, eps=1e-6, elementwise_affine=False)
+        self.proj_out_1 = nn.Linear(inner_dim, 2 * inner_dim)
+        self.proj_out_2 = nn.Linear(inner_dim, output_dim)
+
+    def forward(self, hidden_states, timestep, encoder_hidden_states):
+        temb = self.timestep_encoder(timestep)
+
+        hidden_states = hidden_states.contiguous()
+        encoder_hidden_states = encoder_hidden_states.contiguous()    
+
+        for idx, block in enumerate(self.transformer_blocks):
+            if idx % 2 == 1:
+                hidden_states = block(hidden_states, temb)
+            else:
+                hidden_states = block(hidden_states, temb, context=encoder_hidden_states)
+
+        conditioning = temb
+        shift, scale = self.proj_out_1(F.silu(conditioning)).chunk(2, dim=1)
+        hidden_states = self.norm_out(hidden_states) * (1 + scale[:, None]) + shift[:, None]
+        return self.proj_out_2(hidden_states)
+    
+
+def build_dit(args, cross_attention_dim):
+    return DiT(args, cross_attention_dim)

roboimi/gr00t/models/gr00t.py

@@ -0,0 +1,124 @@
+
+from .modules import (
+    build_action_decoder,
+    build_action_encoder,
+    build_state_encoder,
+    build_time_sampler,
+    build_noise_scheduler,
+)
+from .backbone import build_backbone
+from .dit import build_dit
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+class gr00t(nn.Module):
+    def __init__(
+            self,
+            backbones,
+            dit,
+            state_encoder,
+            action_encoder,
+            action_decoder,
+            time_sampler,
+            noise_scheduler,
+            num_queries,
+            camera_names,
+    ):
+        super().__init__()
+        self.num_queries = num_queries
+        self.camera_names = camera_names
+        self.dit = dit
+        self.state_encoder = state_encoder
+        self.action_encoder = action_encoder
+        self.action_decoder = action_decoder
+        self.time_sampler = time_sampler
+        self.noise_scheduler = noise_scheduler
+
+        if backbones is not None:
+            self.backbones = nn.ModuleList(backbones)
+        else:
+            raise NotImplementedError
+        
+    def forward(self, qpos, image, actions=None, is_pad=None):
+        is_training = actions is not None # train or val
+        bs, _ = qpos.shape
+
+        all_cam_features = []
+        for cam_id, cam_name in enumerate(self.camera_names):
+            # features, pos = self.backbones[0](image[:, cam_id]) # HARDCODED
+            features, pos = self.backbones[cam_id](image[:, cam_id])
+            features = features[0] # take the last layer feature
+            B, C, H, W = features.shape
+            features_seq = features.permute(0, 2, 3, 1).reshape(B, H * W, C)
+            all_cam_features.append(features_seq)
+        encoder_hidden_states = torch.cat(all_cam_features, dim=1)
+
+        state_features = self.state_encoder(qpos)  # [B, 1, emb_dim]
+
+        if is_training:
+            # training logic
+            
+            timesteps = self.time_sampler(bs, actions.device, actions.dtype)
+            noisy_actions, target_velocity = self.noise_scheduler.add_noise(
+                actions, timesteps
+            )
+            t_discretized = (timesteps[:, 0, 0] * 1000).long()
+            action_features = self.action_encoder(noisy_actions, t_discretized)
+            sa_embs = torch.cat((state_features, action_features), dim=1)
+            model_output = self.dit(sa_embs, t_discretized, encoder_hidden_states)
+            pred = self.action_decoder(model_output)
+            pred_actions = pred[:, -actions.shape[1] :]
+            action_loss = F.mse_loss(pred_actions, target_velocity, reduction='none')
+            return pred_actions, action_loss
+        else:
+            actions = torch.randn(bs, self.num_queries, qpos.shape[-1], device=qpos.device, dtype=qpos.dtype)
+            k = 5
+            dt = 1.0 / k
+            for t in range(k):
+                t_cont = t / float(k)
+                t_discretized = int(t_cont * 1000)
+                timesteps = torch.full((bs,), t_discretized, device=qpos.device, dtype=qpos.dtype)
+                action_features = self.action_encoder(actions, timesteps)
+                sa_embs = torch.cat((state_features, action_features), dim=1)
+                # Create tensor of shape [B] for DiT (consistent with training path)
+                model_output = self.dit(sa_embs, timesteps, encoder_hidden_states)
+                pred = self.action_decoder(model_output)
+                pred_velocity = pred[:, -self.num_queries :]
+                actions = actions + pred_velocity * dt
+            return actions, _
+def build_gr00t_model(args):
+    state_dim = args.state_dim
+    action_dim = args.action_dim
+
+    backbones = []
+    for _ in args.camera_names:
+        backbone = build_backbone(args)
+        backbones.append(backbone)
+
+    cross_attention_dim = backbones[0].num_channels
+
+    dit = build_dit(args, cross_attention_dim)
+
+    state_encoder = build_state_encoder(args)
+    action_encoder = build_action_encoder(args)
+    action_decoder = build_action_decoder(args)
+    time_sampler = build_time_sampler(args)
+    noise_scheduler = build_noise_scheduler(args)
+    model = gr00t(
+        backbones,
+        dit,
+        state_encoder,
+        action_encoder,
+        action_decoder,
+        time_sampler,
+        noise_scheduler,
+        args.num_queries,
+        args.camera_names,
+    )
+
+    n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad)
+    print("number of parameters: %.2fM" % (n_parameters/1e6,))
+    return model
+
+

roboimi/gr00t/models/modules.py

@@ -0,0 +1,179 @@
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+# ActionEncoder
+class SinusoidalPositionalEncoding(nn.Module):
+    def __init__(self, args):
+        super().__init__()
+        self.embed_dim = args.embed_dim
+
+    def forward(self, timesteps):
+        timesteps = timesteps.float()
+        B, T = timesteps.shape
+        device = timesteps.device
+
+        half_dim = self.embed_dim // 2
+
+        exponent = -torch.arange(half_dim, dtype=torch.float, device=device) * (
+            torch.log(torch.tensor(10000.0)) / half_dim
+        )
+
+        freqs = timesteps.unsqueeze(-1) * exponent.exp()
+
+        sin = torch.sin(freqs)
+        cos = torch.cos(freqs)
+        enc = torch.cat([sin, cos], dim=-1)  # (B, T, w)
+
+        return enc
+
+
+class ActionEncoder(nn.Module):
+    def __init__(self, args):
+        super().__init__()
+        action_dim = args.action_dim
+        embed_dim = args.embed_dim
+
+        self.W1 = nn.Linear(action_dim, embed_dim)
+        self.W2 = nn.Linear(2 * embed_dim, embed_dim)
+        self.W3 = nn.Linear(embed_dim, embed_dim)
+
+        self.pos_encoder = SinusoidalPositionalEncoding(args)
+
+    def forward(self, actions, timesteps):
+        B, T, _ = actions.shape
+
+        # 1) Expand each batch's single scalar time 'tau' across all T steps
+        #    so that shape => (B, T)
+        #    Handle different input shapes: (B,), (B, 1), (B, 1, 1)
+        #    Reshape to (B,) then expand to (B, T)
+        # if timesteps.dim() == 3:
+        #     # Shape (B, 1, 1) or (B, T, 1) -> (B,)
+        #     timesteps = timesteps[:, 0, 0]
+        # elif timesteps.dim() == 2:
+        #     # Shape (B, 1) or (B, T) -> take first element if needed
+        #     if timesteps.shape[1] == 1:
+        #         timesteps = timesteps[:, 0]
+        #     # else: already (B, T), use as is
+        # elif timesteps.dim() != 1:
+        #     raise ValueError(
+        #         f"Expected `timesteps` to have shape (B,), (B, 1), or (B, 1, 1), got {timesteps.shape}"
+        #     )
+
+        # Now timesteps should be (B,), expand to (B, T)
+        if timesteps.dim() == 1 and timesteps.shape[0] == B:
+            timesteps = timesteps.unsqueeze(1).expand(-1, T)
+        else:
+            raise ValueError(
+                "Expected `timesteps` to have shape (B,) so we can replicate across T."
+            )
+
+        # 2) Standard action MLP step for shape => (B, T, w)
+        a_emb = self.W1(actions)
+
+        # 3) Get the sinusoidal encoding (B, T, w)
+        tau_emb = self.pos_encoder(timesteps).to(dtype=a_emb.dtype)
+
+        # 4) Concat along last dim => (B, T, 2w), then W2 => (B, T, w), swish
+        x = torch.cat([a_emb, tau_emb], dim=-1)
+        x = F.silu(self.W2(x))
+
+        # 5) Finally W3 => (B, T, w)
+        x = self.W3(x)
+
+        return x
+
+
+def build_action_encoder(args):
+    return ActionEncoder(args)
+
+
+# StateEncoder
+class StateEncoder(nn.Module):
+    def __init__(self, args):
+        super().__init__()
+        input_dim = args.state_dim
+        hidden_dim = args.hidden_dim
+        output_dim = args.embed_dim
+
+        self.mlp = nn.Sequential(
+            nn.Linear(input_dim, hidden_dim),
+            nn.ReLU(),
+            nn.Linear(hidden_dim, output_dim),
+        )
+
+    def forward(self, states):
+        state_emb = self.mlp(states)  # [B, emb_dim]
+        state_emb = state_emb.unsqueeze(1)
+        return state_emb  # [B, 1, emb_dim]
+    
+
+def build_state_encoder(args):
+    return StateEncoder(args)
+
+
+# ActionDecoder
+class ActionDecoder(nn.Module):
+    def __init__(self,args):
+        super().__init__()
+        input_dim = args.hidden_dim
+        hidden_dim = args.hidden_dim
+        output_dim = args.action_dim
+
+        self.num_queries = args.num_queries
+
+        self.mlp = nn.Sequential(
+            nn.Linear(input_dim, hidden_dim),
+            nn.ReLU(),
+            nn.Linear(hidden_dim, output_dim),
+        )
+
+    def forward(self, model_output):
+        pred_actions = self.mlp(model_output)
+        return pred_actions[:, -self.num_queries:]
+    
+
+def build_action_decoder(args):
+    return ActionDecoder(args)
+
+
+# TimeSampler
+class TimeSampler(nn.Module):
+    def __init__(self, noise_s = 0.999, noise_beta_alpha=1.5, noise_beta_beta=1.0):
+        super().__init__()
+        self.noise_s = noise_s
+        self.beta_dist = torch.distributions.Beta(noise_beta_alpha, noise_beta_beta)
+
+    def forward(self, batch_size, device, dtype):
+        sample = self.beta_dist.sample([batch_size]).to(device, dtype=dtype)
+        sample = (1 - sample) * self.noise_s
+        return sample[:, None, None]
+    
+
+def build_time_sampler(args):
+    return TimeSampler()
+
+
+# NoiseScheduler
+import torch
+import torch.nn as nn
+
+class FlowMatchingScheduler(nn.Module):
+    def __init__(self):
+        super().__init__()
+
+    # --- 训练逻辑：加噪并计算目标 ---
+    def add_noise(self, actions, timesteps):
+        noise = torch.randn_like(actions)
+        noisy_samples = actions * timesteps + noise * (1 - timesteps)
+        target_velocity = actions - noise
+        
+        return noisy_samples, target_velocity
+
+    # --- 推理逻辑：欧拉步 (Euler Step) ---
+    def step(self, model_output, sample, dt):
+        prev_sample = sample + model_output * dt
+        return prev_sample
+
+def build_noise_scheduler(args):
+    return FlowMatchingScheduler()

roboimi/gr00t/models/position_encoding.py

@@ -0,0 +1,91 @@
+# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
+"""
+Various positional encodings for the transformer.
+"""
+import math
+import torch
+from torch import nn
+
+from util.misc import NestedTensor
+
+
+class PositionEmbeddingSine(nn.Module):
+    """
+    This is a more standard version of the position embedding, very similar to the one
+    used by the Attention is all you need paper, generalized to work on images.
+    """
+    def __init__(self, num_pos_feats=64, temperature=10000, normalize=False, scale=None):
+        super().__init__()
+        self.num_pos_feats = num_pos_feats
+        self.temperature = temperature
+        self.normalize = normalize
+        if scale is not None and normalize is False:
+            raise ValueError("normalize should be True if scale is passed")
+        if scale is None:
+            scale = 2 * math.pi
+        self.scale = scale
+
+    def forward(self, tensor):
+        x = tensor
+        # mask = tensor_list.mask
+        # assert mask is not None
+        # not_mask = ~mask
+
+        not_mask = torch.ones_like(x[0, [0]])
+        y_embed = not_mask.cumsum(1, dtype=torch.float32)
+        x_embed = not_mask.cumsum(2, dtype=torch.float32)
+        if self.normalize:
+            eps = 1e-6
+            y_embed = y_embed / (y_embed[:, -1:, :] + eps) * self.scale
+            x_embed = x_embed / (x_embed[:, :, -1:] + eps) * self.scale
+
+        dim_t = torch.arange(self.num_pos_feats, dtype=torch.float32, device=x.device)
+        dim_t = self.temperature ** (2 * (dim_t // 2) / self.num_pos_feats)
+
+        pos_x = x_embed[:, :, :, None] / dim_t
+        pos_y = y_embed[:, :, :, None] / dim_t
+        pos_x = torch.stack((pos_x[:, :, :, 0::2].sin(), pos_x[:, :, :, 1::2].cos()), dim=4).flatten(3)
+        pos_y = torch.stack((pos_y[:, :, :, 0::2].sin(), pos_y[:, :, :, 1::2].cos()), dim=4).flatten(3)
+        pos = torch.cat((pos_y, pos_x), dim=3).permute(0, 3, 1, 2)
+        return pos
+
+
+class PositionEmbeddingLearned(nn.Module):
+    """
+    Absolute pos embedding, learned.
+    """
+    def __init__(self, num_pos_feats=256):
+        super().__init__()
+        self.row_embed = nn.Embedding(50, num_pos_feats)
+        self.col_embed = nn.Embedding(50, num_pos_feats)
+        self.reset_parameters()
+
+    def reset_parameters(self):
+        nn.init.uniform_(self.row_embed.weight)
+        nn.init.uniform_(self.col_embed.weight)
+
+    def forward(self, tensor_list: NestedTensor):
+        x = tensor_list.tensors
+        h, w = x.shape[-2:]
+        i = torch.arange(w, device=x.device)
+        j = torch.arange(h, device=x.device)
+        x_emb = self.col_embed(i)
+        y_emb = self.row_embed(j)
+        pos = torch.cat([
+            x_emb.unsqueeze(0).repeat(h, 1, 1),
+            y_emb.unsqueeze(1).repeat(1, w, 1),
+        ], dim=-1).permute(2, 0, 1).unsqueeze(0).repeat(x.shape[0], 1, 1, 1)
+        return pos
+
+
+def build_position_encoding(args):
+    N_steps = args.hidden_dim // 2
+    if args.position_embedding in ('v2', 'sine'):
+        # TODO find a better way of exposing other arguments
+        position_embedding = PositionEmbeddingSine(N_steps, normalize=True)
+    elif args.position_embedding in ('v3', 'learned'):
+        position_embedding = PositionEmbeddingLearned(N_steps)
+    else:
+        raise ValueError(f"not supported {args.position_embedding}")
+
+    return position_embedding

roboimi/gr00t/policy.py

@@ -0,0 +1,90 @@
+"""
+GR00T Policy wrapper for imitation learning.
+
+This module provides the gr00tPolicy class that wraps the GR00T model
+for training and evaluation in the imitation learning framework.
+"""
+import torch.nn as nn
+from torch.nn import functional as F
+from torchvision.transforms import v2
+import torch
+from roboimi.gr00t.main import build_gr00t_model_and_optimizer
+
+
+class gr00tPolicy(nn.Module):
+    """
+    GR00T Policy for action prediction using diffusion-based DiT architecture.
+
+    This policy wraps the GR00T model and handles:
+    - Image resizing to match DINOv2 patch size requirements
+    - Image normalization (ImageNet stats)
+    - Training with action chunks and loss computation
+    - Inference with diffusion sampling
+    """
+    def __init__(self, args_override):
+        super().__init__()
+        model, optimizer = build_gr00t_model_and_optimizer(args_override)
+        self.model = model
+        self.optimizer = optimizer
+
+        # DINOv2 requires image dimensions to be multiples of patch size (14)
+        # Common sizes: 224x224, 336x336, etc. (14*16=224, 14*24=336)
+        self.patch_h = 16  # Number of patches vertically
+        self.patch_w = 22  # Number of patches horizontally
+        target_size = (self.patch_h * 14, self.patch_w * 14)  # (224, 308)
+
+        # Training transform with data augmentation
+        self.train_transform = v2.Compose([
+            v2.ColorJitter(brightness=0.5, contrast=0.5, saturation=0.5, hue=0.5),
+            v2.RandomPerspective(distortion_scale=0.5),
+            v2.RandomAffine(degrees=10, translate=(0.1, 0.1), scale=(0.9, 1.1)),
+            v2.GaussianBlur(kernel_size=(9, 9), sigma=(0.1, 2.0)),
+            v2.Resize(target_size),
+            v2.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
+        ])
+
+        # Inference transform (no augmentation)
+        self.inference_transform = v2.Compose([
+            v2.Resize(target_size),
+            v2.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)),
+        ])
+
+    def __call__(self, qpos, image, actions=None, is_pad=None):
+        """
+        Forward pass for training or inference.
+
+        Args:
+            qpos: Joint positions [B, state_dim]
+            image: Camera images [B, num_cameras, C, H, W]
+            actions: Ground truth actions [B, chunk_size, action_dim] (training only)
+            is_pad: Padding mask [B, chunk_size] (training only)
+
+        Returns:
+            Training: dict with 'mse' loss
+            Inference: predicted actions [B, num_queries, action_dim]
+        """
+        # Apply transforms (resize + normalization)
+        if actions is not None:  # training time
+            image = self.train_transform(image)
+        else:  # inference time
+            image = self.inference_transform(image)
+
+        if actions is not None:  # training time
+            actions = actions[:, :self.model.num_queries]
+            is_pad = is_pad[:, :self.model.num_queries]
+            _, action_loss = self.model(qpos, image, actions, is_pad)
+
+            # Mask out padded positions
+            mse_loss = (action_loss * ~is_pad.unsqueeze(-1)).mean()
+
+            loss_dict = {
+                'loss': mse_loss
+            }
+            return loss_dict
+        else:  # inference time
+            a_hat, _ = self.model(qpos, image)
+            return a_hat
+
+    def configure_optimizers(self):
+        """Return the optimizer for training."""
+        return self.optimizer

roboimi/utils/constants.py

@@ -20,7 +20,7 @@ SIM_TASK_CONFIGS = {
         'dataset_dir': DATASET_DIR + '/sim_transfer',
         'num_episodes': 7,
         'episode_len': 700,
-        'camera_names': ['angle','r_vis'],
+        'camera_names': ['top','r_vis'],
         'xml_dir': HOME_PATH + '/assets'
     },
 

roboimi/utils/model_interface.py

@@ -1,7 +1,8 @@
 import os
 import torch
 from roboimi.utils.utils import load_data, set_seed
-from roboimi.detr.policy import ACTPolicy, CNNMLPPolicy,ACTTVPolicy
+from roboimi.detr.policy import ACTPolicy, CNNMLPPolicy, ACTTVPolicy
+from roboimi.gr00t.policy import gr00tPolicy
 
 class ModelInterface:
     def __init__(self, config):
@@ -59,12 +60,32 @@ class ModelInterface:
             }
         elif self.config['policy_class'] == 'CNNMLP':
             self.config['policy_config'] = {
-                'lr': self.config['lr'], 
+                'lr': self.config['lr'],
-                'lr_backbone': self.config['lr_backbone'], 
+                'lr_backbone': self.config['lr_backbone'],
-                'backbone': self.config['backbone'], 
+                'backbone': self.config['backbone'],
                 'num_queries': 1,
                 'camera_names': self.config['camera_names'],
             }
+        elif self.config['policy_class'] == 'GR00T':
+            # GR00T uses its own config section from config.yaml
+            gr00t_config = self.config.get('gr00t', {})
+            self.config['policy_config'] = {
+                'lr': gr00t_config.get('lr', self.config['lr']),
+                'lr_backbone': gr00t_config.get('lr_backbone', self.config['lr_backbone']),
+                'weight_decay': gr00t_config.get('weight_decay', 1e-4),
+                'embed_dim': gr00t_config.get('embed_dim', 1536),
+                'hidden_dim': gr00t_config.get('hidden_dim', 1024),
+                'state_dim': gr00t_config.get('state_dim', 16),
+                'action_dim': gr00t_config.get('action_dim', 16),
+                'num_queries': gr00t_config.get('num_queries', 16),
+                'num_layers': gr00t_config.get('num_layers', 16),
+                'nheads': gr00t_config.get('nheads', 32),
+                'mlp_ratio': gr00t_config.get('mlp_ratio', 4),
+                'dropout': gr00t_config.get('dropout', 0.2),
+                'backbone': gr00t_config.get('backbone', 'dino_v2'),
+                'position_embedding': gr00t_config.get('position_embedding', 'sine'),
+                'camera_names': self.config['camera_names'],
+            }
         else:
             raise NotImplementedError
 
@@ -75,6 +96,8 @@ class ModelInterface:
             return ACTTVPolicy(self.config['policy_config'])
         elif self.config['policy_class'] == 'CNNMLP':
             return CNNMLPPolicy(self.config['policy_config'])
+        elif self.config['policy_class'] == 'GR00T':
+            return gr00tPolicy(self.config['policy_config'])
         else:
             raise NotImplementedError