| """Что реально лежит в цепочках преобразований GreenVLA и есть ли нормировка.""" |
| import os, sys, json |
| os.environ.setdefault("MUJOCO_GL", "egl") |
| from lerobot.common.policies.factory import load_pretrained_policy, _resolve_norm_stats_dir |
|
|
| CKPT = sys.argv[1] if len(sys.argv) > 1 else "SberRoboticsCenter/GreenVLA-5b-stride-1-R1-bridge" |
|
|
| print("HF_HOME=%s" % os.environ.get("HF_HOME")) |
| try: |
| p = _resolve_norm_stats_dir(CKPT, "bridge") |
| print("assets_dir: %s" % p) |
| import pathlib |
| pp = pathlib.Path(p) |
| print("существует: %s" % pp.exists()) |
| if pp.exists(): |
| for f in pp.rglob("*"): |
| print(" ", f) |
| except Exception as e: |
| print("ОШИБКА _resolve_norm_stats_dir: %r" % (e,)) |
|
|
| policy, itf, otf = load_pretrained_policy(CKPT, data_config_name="bridge") |
|
|
|
|
| def names(chain): |
| fns = getattr(chain, "fns", None) or getattr(chain, "transforms", None) or [] |
| return [type(f).__name__ for f in fns] |
|
|
|
|
| print("") |
| print("ВХОДНАЯ цепочка: %s" % names(itf)) |
| print("ВЫХОДНАЯ цепочка: %s" % names(otf)) |
|
|
| for tag, chain in (("вход", itf), ("выход", otf)): |
| fns = getattr(chain, "fns", None) or getattr(chain, "transforms", None) or [] |
| for f in fns: |
| if "ormalize" in type(f).__name__: |
| ns = getattr(f, "norm_stats", None) |
| mode = getattr(f, "normalization_mode", None) |
| print("") |
| print("%s: %s режим=%s" % (tag, type(f).__name__, mode)) |
| if isinstance(ns, dict): |
| for k, v in ns.items(): |
| fields = sorted(vars(v).keys()) if hasattr(v, "__dict__") else list(v) |
| print(" ключ %r поля %s" % (k, fields)) |
| for fld in ("mean", "std", "q01", "q99"): |
| val = getattr(v, fld, None) |
| if val is not None: |
| try: |
| import numpy as np |
| arr = np.asarray(val, float).ravel() |
| print(" %-5s n=%d %s" % (fld, arr.size, |
| " ".join("%.3f" % x for x in arr[:9]))) |
| except Exception as e: |
| print(" %s -> %r" % (fld, e)) |
|
|
