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[Serving] Update the details of the inference service (#70)

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* Update the details of the inference service startup

* add functions to compute and update robot-specific action/state normalization stats

* Update for pre-commit

* Union compute_action_statistics code into update_action_statistics

* Update for pre-commit

* Add default value for dof_config and agent_pos_config

---------

Co-authored-by: farmer <farmer@x2robot.com>
This commit is contained in:
phoenixDong
2025-11-27 19:21:49 +08:00
committed by GitHub
co-authored by farmer
parent efc658f178
commit 908329d214
8 changed files with 155 additions and 69 deletions
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wall_x/model/qwen2_5_based/modeling_qwen2_5_vl_act.py
+11 -35
View File
@@ -44,8 +44,8 @@ from wall_x.model.qwen2_5_based.modeling_qwen2_5_vl import (
Qwen2_5_VLSdpaAttention,
)
from wall_x.data.config import ACTION_DATASET_NAMES, MULTIMODAL_DATASET_NAMES
from wall_x.data.utils import update_action_statistics
from wall_x.utils.constant import action_statistic_dof
from wall_x.data.utils import load_norm_stats
from pprint import pprint
logger = logging.get_logger(__name__)
@@ -771,43 +771,19 @@ class Qwen2_5_VLMoEForAction(Qwen2_5_VLForConditionalGeneration):
"customized_agent_pos_config"
]
norm_stats_path = config["norm_stats_path"]
norm_stats = load_norm_stats(
norm_stats_path, config["data"]["lerobot_config"]["repo_id"]
)
action_min = norm_stats["action"].min.numpy().tolist()
action_delta = norm_stats["action"].delta.numpy().tolist()
state_min = norm_stats["state"].min.numpy().tolist()
state_delta = norm_stats["state"].delta.numpy().tolist()
# Use the compute_action_statistics function from utils
name = config["customized_robot_config"]["name"]
dof_key = []
agent_pos_key = []
dof_value = []
agent_pos_value = []
stats_dict = {}
for k, v in customized_dof_config.items():
dof_key.append(k)
dof_value.append(v)
for k, v in customized_agent_pos_config.items():
agent_pos_key.append(k)
agent_pos_value.append(v)
dof_idx = np.array([0] + dof_value).cumsum()
for i in range(len(dof_idx) - 1):
stats_dict[dof_key[i]] = {
"min": action_min[dof_idx[i] : dof_idx[i + 1]],
"delta": action_delta[dof_idx[i] : dof_idx[i + 1]],
}
agent_pos_idx = np.array([0] + agent_pos_value).cumsum()
for i in range(len(agent_pos_idx) - 1):
stats_dict[agent_pos_key[i]] = {
"min": state_min[agent_pos_idx[i] : agent_pos_idx[i + 1]],
"delta": state_delta[agent_pos_idx[i] : agent_pos_idx[i + 1]],
}
action_statistic_dof[name] = stats_dict
update_action_statistics(
action_statistic_dof=action_statistic_dof, # Assuming this is a global variable
norm_stats_path=norm_stats_path,
repo_id=config["data"]["lerobot_config"]["repo_id"],
robot_name=name,
customized_dof_config=customized_dof_config,
customized_agent_pos_config=customized_agent_pos_config,
)
print("Customized robot config added")
pprint(action_statistic_dof)