Fix magma on cuda by using microsoft provided code

Instead of transformers code

node-hub/dora-magma/dora_magma/main.py

@@ -1,6 +1,5 @@
 """TODO: Add docstring."""
 
-import ast
 import logging
 import os
 from pathlib import Path
@@ -25,13 +24,6 @@ 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)
@@ -47,6 +39,7 @@ def load_magma_models():
         model_name_or_path,
         trust_remote_code=True,
         torch_dtype=torch.bfloat16,
+        use_fast=True,
     )
 
     return model, processor, model_name_or_path
@@ -77,6 +70,7 @@ def generate(
         tokenize=False,
         add_generation_prompt=True,
     )
+    # image = image.resize((256, 256))
 
     inputs = processor(images=image, texts=prompt, return_tensors="pt")
     inputs["pixel_values"] = (
@@ -94,26 +88,7 @@ def generate(
             max_new_tokens=1024,
             use_cache=True,
         )
-    response = processor.batch_decode(output_ids, skip_special_tokens=True)[0]
-
-    # Parse trajectories from response
-    trajectories = {}
-    try:
-        if "and their future positions are:" in response:
-            _, traces_str = response.split("and their future positions are:\n")
-        else:
-            _, traces_str = None, response
-
-        # Parse the trajectories using the same approach as in `https://github.com/microsoft/Magma/blob/main/agents/robot_traj/app.py`
-        traces_dict = ast.literal_eval(
-            "{" + traces_str.strip().replace("\n\n", ",") + "}",
-        )
-        for mark_id, trace in traces_dict.items():
-            trajectories[mark_id] = ast.literal_eval(trace)
-    except Exception as e:
-        logger.warning(f"Failed to parse trajectories: {e}")
-
-    return response, trajectories
+    return processor.batch_decode(output_ids, skip_special_tokens=True)[0]
 
 
 def main():
@@ -121,6 +96,7 @@ def main():
     node = Node()
     frames = {}
     image_id = ""
+    image = np.array([])
 
     for event in node:
         event_type = event["type"]
@@ -172,25 +148,17 @@ def main():
                     else:
                         logger.error(f"Image not found for {image_id}")
                         continue
-                    response, trajectories = generate(image, task_description)
+                    response = generate(image, task_description)
                     node.send_output(
                         "text",
                         pa.array([response]),
-                        {"image_id": image_id},
+                        {
+                            "image_id": image_id,
+                            "width": image.width,
+                            "height": image.height,
+                        },
                     )
 
-                    # Send trajectory data if available
-                    if trajectories:
-                        import json
-
-                        node.send_output(
-                            "trajectories",
-                            pa.array([json.dumps(trajectories)]),
-                            {"image_id": image_id},
-                        )
-                else:
-                    continue
-
         elif event_type == "ERROR":
             logger.error(f"Event Error: {event['error']}")
 

node-hub/dora-magma/pyproject.toml

@@ -15,7 +15,7 @@ dependencies = [
   "numpy < 2",
   "torch >= 2.4.0",
   "torchvision >= 0.19",
-  "transformers >= 4.45",
+  "transformers>=4.45",
   "opencv-python >= 4.1.1",
   "accelerate>=1.5.1",
   "psutil>=7.0.0",
@@ -35,6 +35,9 @@ exclude = ["dora_magma/Magma"]
 [tool.black]
 extend.exclude = "dora_magma/Magma"
 
+[tool.uv.sources]
+transformers = { git = "https://github.com/jwyang/transformers.git", rev = "dev/jwyang-v4.48.2" }
+
 [tool.ruff.lint]
 extend-select = [
   "D",    # pydocstyle

node-hub/dora-magma/uv.lock

@@ -1,24 +1,20 @@
 version = 1
+revision = 1
 requires-python = ">=3.10"
 resolution-markers = [
-    "python_full_version < '3.11' and platform_system == 'Darwin' and sys_platform == 'linux'",
-    "python_full_version < '3.11' and platform_system == 'Darwin' and sys_platform != 'linux'",
-    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform == 'linux'",
-    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform != 'linux'",
-    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'linux')",
-    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform != 'linux') or (python_full_version < '3.11' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform != 'linux')",
-    "python_full_version == '3.11.*' and platform_system == 'Darwin' and sys_platform == 'linux'",
-    "python_full_version == '3.11.*' and platform_system == 'Darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform == 'linux'",
-    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform != 'linux'",
-    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'linux')",
-    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform != 'linux') or (python_full_version == '3.11.*' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform != 'linux')",
-    "python_full_version >= '3.12' and platform_system == 'Darwin' and sys_platform == 'linux'",
-    "python_full_version >= '3.12' and platform_system == 'Darwin' and sys_platform != 'linux'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform == 'linux'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and sys_platform != 'linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform == 'linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform == 'linux')",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_system != 'Darwin' and sys_platform != 'linux') or (python_full_version >= '3.12' and platform_system != 'Darwin' and platform_system != 'Linux' and sys_platform != 'linux')",
+    "python_version < '0'",
+    "python_full_version < '3.11' and sys_platform == 'darwin'",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.11' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'linux'",
+    "python_full_version == '3.11.*' and sys_platform == 'darwin'",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.11.*' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version == '3.11.*' and sys_platform != 'darwin' and sys_platform != 'linux'",
+    "python_full_version >= '3.12' and sys_platform == 'darwin'",
+    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
+    "python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux'",
+    "python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux'",
 ]
 
 [[package]]
@@ -39,6 +35,15 @@ wheels = [
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 ]
 
+[[package]]
+name = "annotated-types"
+version = "0.7.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/ee/67/531ea369ba64dcff5ec9c3402f9f51bf748cec26dde048a2f973a4eea7f5/annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89", size = 16081 }
+wheels = [
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+]
+
 [[package]]
 name = "certifi"
 version = "2025.1.31"
@@ -109,6 +114,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/0e/f6/65ecc6878a89bb1c23a086ea335ad4bf21a588990c3f535a227b9eea9108/charset_normalizer-3.4.1-py3-none-any.whl", hash = "sha256:d98b1668f06378c6dbefec3b92299716b931cd4e6061f3c875a71ced1780ab85", size = 49767 },
 ]
 
+[[package]]
+name = "click"
+version = "8.1.8"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "colorama", marker = "sys_platform == 'win32'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/b9/2e/0090cbf739cee7d23781ad4b89a9894a41538e4fcf4c31dcdd705b78eb8b/click-8.1.8.tar.gz", hash = "sha256:ed53c9d8990d83c2a27deae68e4ee337473f6330c040a31d4225c9574d16096a", size = 226593 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/7e/d4/7ebdbd03970677812aac39c869717059dbb71a4cfc033ca6e5221787892c/click-8.1.8-py3-none-any.whl", hash = "sha256:63c132bbbed01578a06712a2d1f497bb62d9c1c0d329b7903a866228027263b2", size = 98188 },
+]
+
 [[package]]
 name = "colorama"
 version = "0.4.6"
@@ -183,6 +200,18 @@ toml = [
     { name = "tomli", marker = "python_full_version <= '3.11'" },
 ]
 
+[[package]]
+name = "docker-pycreds"
+version = "0.4.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "six" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/c5/e6/d1f6c00b7221e2d7c4b470132c931325c8b22c51ca62417e300f5ce16009/docker-pycreds-0.4.0.tar.gz", hash = "sha256:6ce3270bcaf404cc4c3e27e4b6c70d3521deae82fb508767870fdbf772d584d4", size = 8754 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/f5/e8/f6bd1eee09314e7e6dee49cbe2c5e22314ccdb38db16c9fc72d2fa80d054/docker_pycreds-0.4.0-py2.py3-none-any.whl", hash = "sha256:7266112468627868005106ec19cd0d722702d2b7d5912a28e19b826c3d37af49", size = 8982 },
+]
+
 [[package]]
 name = "dora-magma"
 version = "0.1.0"
@@ -197,6 +226,7 @@ dependencies = [
     { name = "torch" },
     { name = "torchvision" },
     { name = "transformers" },
+    { name = "wandb" },
 ]
 
 [package.dev-dependencies]
@@ -210,13 +240,14 @@ dev = [
 requires-dist = [
     { name = "accelerate", specifier = ">=1.5.1" },
     { name = "dora-rs", specifier = ">=0.3.9" },
-    { name = "numpy", specifier = ">=2.2.3" },
+    { name = "numpy", specifier = "<2" },
     { name = "open-clip-torch", specifier = ">=2.31.0" },
     { name = "opencv-python", specifier = ">=4.1.1" },
     { name = "psutil", specifier = ">=7.0.0" },
     { name = "torch", specifier = ">=2.4.0" },
     { name = "torchvision", specifier = ">=0.19" },
-    { name = "transformers", specifier = ">=4.45" },
+    { name = "transformers", git = "https://github.com/jwyang/transformers.git?rev=dev%2Fjwyang-v4.48.2" },
+    { name = "wandb" },
 ]
 
 [package.metadata.requires-dev]
@@ -287,9 +318,33 @@ wheels = [
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+[[package]]
+name = "gitdb"
+version = "4.0.12"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "smmap" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/72/94/63b0fc47eb32792c7ba1fe1b694daec9a63620db1e313033d18140c2320a/gitdb-4.0.12.tar.gz", hash = "sha256:5ef71f855d191a3326fcfbc0d5da835f26b13fbcba60c32c21091c349ffdb571", size = 394684 }
+wheels = [
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+]
+
+[[package]]
+name = "gitpython"
+version = "3.1.44"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "gitdb" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/c0/89/37df0b71473153574a5cdef8f242de422a0f5d26d7a9e231e6f169b4ad14/gitpython-3.1.44.tar.gz", hash = "sha256:c87e30b26253bf5418b01b0660f818967f3c503193838337fe5e573331249269", size = 214196 }
+wheels = [
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+]
+
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 name = "huggingface-hub"
-version = "0.23.5"
+version = "0.29.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "filelock" },
@@ -300,9 +355,9 @@ dependencies = [
     { name = "tqdm" },
     { name = "typing-extensions" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/e5/f9/851f34b02970e8143d41d4001b2d49e54ef113f273902103823b8bc95ada/huggingface_hub-0.29.3.tar.gz", hash = "sha256:64519a25716e0ba382ba2d3fb3ca082e7c7eb4a2fc634d200e8380006e0760e5", size = 390123 }
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