diff --git a/.gitmodules b/.gitmodules index 5b3e5af8..25369ece 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer"] path = node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer url = https://github.com/thu-ml/RoboticsDiffusionTransformer +[submodule "node-hub/dora-magma/dora_magma/Magma"] + path = node-hub/dora-magma/dora_magma/Magma + url = https://github.com/microsoft/Magma diff --git a/node-hub/dora-magma/README.md b/node-hub/dora-magma/README.md new file mode 100644 index 00000000..34998b92 --- /dev/null +++ b/node-hub/dora-magma/README.md @@ -0,0 +1,7 @@ +# Dora Magma Node + +This Dora node integrates Microsoft's Magma model for multimodal trajectory planning and visualization within dora. + + +# Additional Documentation +- Magma: https://github.com/microsoft/Magma diff --git a/node-hub/dora-magma/dora_magma/Magma b/node-hub/dora-magma/dora_magma/Magma new file mode 160000 index 00000000..adc6d827 --- /dev/null +++ b/node-hub/dora-magma/dora_magma/Magma @@ -0,0 +1 @@ +Subproject commit adc6d8272e57ed9666e1f70584425e72525185fa diff --git a/node-hub/dora-magma/dora_magma/__init__.py b/node-hub/dora-magma/dora_magma/__init__.py new file mode 100644 index 00000000..0934c04c --- /dev/null +++ b/node-hub/dora-magma/dora_magma/__init__.py @@ -0,0 +1,19 @@ +"""TODO: Add docstring.""" + +import os +import sys +from pathlib import Path + +# Define the path to the README file relative to the package directory +readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md") + +# Read the content of the README file +try: + with open(readme_path, encoding="utf-8") as f: + __doc__ = f.read() +except FileNotFoundError: + __doc__ = "README file not found." + + +submodule_path = Path(__file__).resolve().parent / "Magma" +sys.path.insert(0, str(submodule_path)) \ No newline at end of file diff --git a/node-hub/dora-magma/dora_magma/main.py b/node-hub/dora-magma/dora_magma/main.py new file mode 100644 index 00000000..744348f5 --- /dev/null +++ b/node-hub/dora-magma/dora_magma/main.py @@ -0,0 +1,161 @@ +"""TODO: Add docstring.""" + +import os +from pathlib import Path +import cv2 +import numpy as np +import pyarrow as pa +import torch +from dora import Node +from PIL import Image +from transformers import AutoModelForCausalLM, AutoProcessor +import logging + +logging.basicConfig(level=logging.INFO) +logger = logging.getLogger(__name__) + +current_dir = Path(__file__).parent.absolute() +magma_dir = current_dir.parent / "Magma" / "magma" + +def load_magma_models(): + """TODO: Add docstring.""" + DEFAULT_PATH = str(magma_dir.parent / "checkpoints" / "Magma-8B") + if not os.path.exists(DEFAULT_PATH): + DEFAULT_PATH = str(magma_dir.parent) + if not os.path.exists(DEFAULT_PATH): + logger.warning("Warning: Magma submodule not found, falling back to HuggingFace version") + DEFAULT_PATH = "microsoft/Magma-8B" + + MODEL_NAME_OR_PATH = os.getenv("MODEL_NAME_OR_PATH", DEFAULT_PATH) + logger.info(f"Loading Magma model from: {MODEL_NAME_OR_PATH}") + + try: + model = AutoModelForCausalLM.from_pretrained( + MODEL_NAME_OR_PATH, + trust_remote_code=True, + torch_dtype=torch.bfloat16, + device_map="auto" + ) + processor = AutoProcessor.from_pretrained(MODEL_NAME_OR_PATH, trust_remote_code=True) + except Exception as e: + logger.error(f"Failed to load model: {e}") + raise + + return model, processor, MODEL_NAME_OR_PATH + +model, processor, MODEL_NAME_OR_PATH = load_magma_models() + +def generate(image, task_description, template=None, num_marks=10, speed=8, steps=8): + """TODO: Add docstring.""" + if template is None: + template = ( + "\nThe image is split into 256x256 grids and is labeled with numeric marks {}.\n" + "The robot is doing: {}. To finish the task, how to move the numerical marks in the image " + "with speed {} for the next {} steps?\n" + ) + + mark_ids = [i + 1 for i in range(num_marks)] + conv_user = template.format(mark_ids, task_description, speed, steps) + + if hasattr(model.config, 'mm_use_image_start_end') and model.config.mm_use_image_start_end: + conv_user = conv_user.replace("", "") + + convs = [ + {"role": "system", "content": "You are an agent that can see, talk, and act."}, + {"role": "user", "content": conv_user}, + ] + + prompt = processor.tokenizer.apply_chat_template( + convs, + tokenize=False, + add_generation_prompt=True + ) + + try: + inputs = processor(images=image, texts=prompt, return_tensors="pt") + inputs['pixel_values'] = inputs['pixel_values'].unsqueeze(0) + inputs['image_sizes'] = inputs['image_sizes'].unsqueeze(0) + inputs = inputs.to(model.device) + + with torch.inference_mode(): + output_ids = model.generate( + **inputs, + temperature=0.3, + do_sample=True, + num_beams=1, + max_new_tokens=1024, + use_cache=True, + ) + response = processor.batch_decode(output_ids, skip_special_tokens=True)[0] + return response + except Exception as e: + logger.error(f"Error in generate: {e}") + return f"Error: {e}" + +def main(): + """TODO: Add docstring.""" + node = Node() + frames = {} + + for event in node: + event_type = event["type"] + + if event_type == "INPUT": + event_id = event["id"] + + if "image" in event_id: + storage = event["value"] + metadata = event["metadata"] + encoding = metadata["encoding"] + width = metadata["width"] + height = metadata["height"] + + try: + if encoding == "bgr8": + frame = storage.to_numpy().astype(np.uint8).reshape((height, width, 3)) + frame = frame[:, :, ::-1] # Convert BGR to RGB + elif encoding == "rgb8": + frame = storage.to_numpy().astype(np.uint8).reshape((height, width, 3)) + elif encoding in ["jpeg", "jpg", "jpe", "bmp", "webp", "png"]: + storage = storage.to_numpy() + frame = cv2.imdecode(storage, cv2.IMREAD_COLOR) + if frame is None: + raise ValueError(f"Failed to decode image with encoding {encoding}") + frame = frame[:, :, ::-1] # Convert BGR to RGB + else: + raise ValueError(f"Unsupported image encoding: {encoding}") + + image = Image.fromarray(frame) + frames[event_id] = image + + # Cleanup old frames + if len(frames) > 10: + frames.popitem(last=False) + except Exception as e: + logger.error(f"Error processing image {event_id}: {e}") + + # Handle text inputs + elif "text" in event_id: + if len(event["value"]) > 0: + task_description = event["value"][0].as_py() + image_id = event["metadata"].get("image_id", None) + + if image_id is None or image_id not in frames: + logger.error(f"Image ID {image_id} not found in frames") + continue + + image = frames[image_id] + response = generate(image, task_description) + node.send_output( + "text", + pa.array([response]), + {"image_id": image_id} + ) + else: + continue + + elif event_type == "ERROR": + logger.error(f"Event Error: {event['error']}") + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/node-hub/dora-magma/pyproject.toml b/node-hub/dora-magma/pyproject.toml new file mode 100644 index 00000000..e983b127 --- /dev/null +++ b/node-hub/dora-magma/pyproject.toml @@ -0,0 +1,46 @@ +[build-system] +requires = ["poetry-core>=1.8.0"] +build-backend = "poetry.core.masonry.api" + +[project] +name = "dora-magma" +version = "0.1.0" +description = "Dora node for Microsoft Magma model" +requires-python = ">=3.10" +license = {text = "MIT"} +readme = "README.md" +authors = [ + {name = "Munish Mummadi", email = "moneymindedmunish1@gmail.com"} +] +dependencies = [ + "dora-rs >= 0.3.9", + "numpy >= 2.2.3", + "torch >= 2.4.0", + "torchvision >= 0.19", + "transformers >= 4.45", + "opencv-python >= 4.1.1", + "accelerate>=1.5.1", + "psutil>=7.0.0", + "open-clip-torch>=2.31.0", +] + +[dependency-groups] +dev = [ + "pytest>=8.1.1", + "ruff>=0.9.1", + "pytest-cov>=4.0.0", +] + +[project.scripts] +dora-magma = "dora_magma.main:main" + +[tool.ruff] +exclude = ["dora_magma/Magma"] + +[tool.black] +extend.exclude = "dora_magma/Magma" + +[tool.ruff.lint] +extend-select = [ + "D", # pydocstyle +] diff --git a/node-hub/dora-magma/tests/test_magma_node.py b/node-hub/dora-magma/tests/test_magma_node.py new file mode 100644 index 00000000..95f0eab9 --- /dev/null +++ b/node-hub/dora-magma/tests/test_magma_node.py @@ -0,0 +1,11 @@ +"""TODO: Add docstring.""" + +import pytest + + +def test_import_main(): + """TODO: Add docstring.""" + from dora_magma.main import main + # Check that everything is working, and catch dora Runtime Exception as we're not running in a dora dataflow. + with pytest.raises(RuntimeError): + main() \ No newline at end of file diff --git a/node-hub/dora-magma/uv.lock b/node-hub/dora-magma/uv.lock new file mode 100644 index 00000000..fd5e0aff --- /dev/null +++ b/node-hub/dora-magma/uv.lock @@ -0,0 +1,1273 @@ +version = 1 +requires-python = ">=3.10" +resolution-markers = [ + 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