patch_sigma_env.py

#!/usr/bin/env python3
"""
patch_sigma_env.py

Idempotent patcher for Sigma VLA experiments.

Patch goals:
1) LeRobot PI05Policy (modeling_pi05.py):
   1.1 If ckpt omits embed_tokens.weight, tie embed_tokens.weight to lm_head.weight
       *after* load_state_dict runs.
   1.2 Ensure torch is imported if target file lacks it.
   1.3 Downgrade the "incorrect transformer version" hard guard
       (ValueError) to a WARNING so new GPU environments don't crash.
       IMPORTANT: preserve indentation and patch only the intended guard.

2) LeRobot policies __init__ (lerobot/policies/__init__.py):
   2.1 Make ONLY Groot/Diffusers-related imports optional (wrapped in try/except),
       leaving all other exports untouched.
       This prevents errors like: No module named 'triton.ops'
       or diffusers/peft chain issues on fresh GPUs.

3) eval_sigma_vla_rollout.py (your /workspace eval script):
   3.1 Force strict=False for PI05Policy.from_pretrained calls:
       - strict=True -> strict=False
       - if a PI05Policy load call has no strict arg, add strict=False
   3.2 Ensure randomized subset evaluation is possible:
       - add --shuffle arg if missing
       - change DataLoader shuffle=False -> shuffle=getattr(args,"shuffle",False)

Safe to run multiple times; no-op if already patched.
"""

import os
import re
import sys
import pathlib
from typing import Optional, Tuple, List


# -------------------------
# Utilities
# -------------------------

def _read_text(p: pathlib.Path) -> str:
    return p.read_text(encoding="utf-8")

def _write_text(p: pathlib.Path, s: str) -> None:
    p.write_text(s, encoding="utf-8")

def _search_file(
    roots: List[os.PathLike],
    filename: str,
    must_contain: Optional[str] = None
) -> Optional[pathlib.Path]:
    for r in roots:
        r = pathlib.Path(r)
        if not r.exists():
            continue
        for p in r.rglob(filename):
            if must_contain and must_contain not in str(p):
                continue
            return p
    return None

def _default_roots():
    return [
        "/workspace/lerobot/src",
        "/workspace/lerobot",
        pathlib.Path(sys.prefix)
        / "lib"
        / f"python{sys.version_info.major}.{sys.version_info.minor}"
        / "site-packages",
    ]


# -------------------------
# Patch 1: PI05Policy (LeRobot)
# -------------------------

def find_pi05_file() -> pathlib.Path:
    env = os.getenv("PI05_FILE")
    if env:
        p = pathlib.Path(env)
        if p.exists():
            return p

    p = _search_file(_default_roots(), "modeling_pi05.py", must_contain="/pi05/")
    if p and p.exists():
        return p

    raise FileNotFoundError("modeling_pi05.py not found. Set PI05_FILE env var to its path.")


def ensure_torch_import(s: str) -> str:
    if re.search(r"(?m)^\s*import\s+torch\b", s) or re.search(r"(?m)^\s*from\s+torch\b", s):
        return s

    lines = s.splitlines(True)
    insert_idx = 0

    if lines and lines[0].startswith("#!"):
        insert_idx = 1

    # skip module docstring block if present
    if insert_idx < len(lines) and lines[insert_idx].lstrip().startswith('"""'):
        i = insert_idx + 1
        while i < len(lines) and '"""' not in lines[i]:
            i += 1
        if i < len(lines):
            insert_idx = i + 1

    lines.insert(insert_idx, "import torch  # PATCH: required for embed/lm_head tying\n")
    return "".join(lines)


def patch_pi05_embed_tie(p: pathlib.Path) -> Tuple[bool, str]:
    s = _read_text(p)
    s = ensure_torch_import(s)

    marker = "PATCH: tie embed_tokens to lm_head if ckpt omitted embed_tokens"
    if marker in s:
        _write_text(p, s)
        return False, f"PI05 embed-tie patch already present: {p}"

    pat = r"(?m)^(\s*)missing_keys,\s*unexpected_keys\s*=\s*model\.load_state_dict\(\s*remapped_state_dict\s*,\s*strict\s*=\s*strict\s*\)\s*$"
    m = re.search(pat, s)
    if not m:
        _write_text(p, s)
        return False, f"Could not find load_state_dict line to patch in PI05 file: {p}"

    indent = m.group(1)
    inject = (
        f"\n{indent}# --- PATCH: tie embed_tokens to lm_head if ckpt omitted embed_tokens ---\n"
        f"{indent}if any('embed_tokens.weight' in k for k in missing_keys):\n"
        f"{indent}    try:\n"
        f"{indent}        with torch.no_grad():\n"
        f"{indent}            embed = model.model.paligemma_with_expert.paligemma.model.language_model.embed_tokens\n"
        f"{indent}            lm_head = model.model.paligemma_with_expert.paligemma.lm_head\n"
        f"{indent}            if embed is not None and lm_head is not None:\n"
        f"{indent}                embed.weight = lm_head.weight  # {marker}\n"
        f"{indent}    except Exception as _e:\n"
        f"{indent}        print('[patch_pi05] Could not tie embed_tokens to lm_head:', _e)\n"
    )

    s2 = re.sub(pat, lambda mm: mm.group(0) + inject, s, count=1)
    _write_text(p, s2)
    return True, f"Patched PI05 embed-tie in: {p}"


def patch_pi05_transformers_guard(p: pathlib.Path) -> Tuple[bool, str]:
    """
    Downgrade ONLY the PI05 hard guard:
      ValueError: An incorrect transformer version is used...
    to WARNING print, preserving indentation.

    Strategy:
    - Find raise ValueError(msg) from None lines.
    - Only patch the one whose nearby context contains
      "incorrect transformer version".
    """
    s = _read_text(p)
    marker = "PATCH: downgrade transformer version guard"
    if marker in s:
        return False, f"PI05 transformers-guard patch already present: {p}"

    if "incorrect transformer version" not in s:
        return False, f"No transformers guard message found to patch in: {p}"

    lines = s.splitlines(True)
    raise_pat = re.compile(r"^(\s*)raise\s+ValueError\(\s*msg\s*\)\s*from\s*None\s*$")

    target_idx = None
    target_indent = ""

    for i, line in enumerate(lines):
        m = raise_pat.match(line)
        if not m:
            continue
        # look back a few lines for the specific guard text
        window_start = max(0, i - 8)
        window = "".join(lines[window_start:i+1]).lower()
        if "incorrect transformer version" in window:
            target_idx = i
            target_indent = m.group(1)
            break

    if target_idx is None:
        return False, f"Guard raise line with context not found in: {p}"

    repl = (
        f"{target_indent}# --- PATCH: downgrade transformer version guard ---\n"
        f"{target_indent}print('[patch_pi05] WARNING:', msg)  # {marker}\n"
        f"{target_indent}# continues execution despite version mismatch\n"
    )

    lines[target_idx] = repl
    s2 = "".join(lines)
    _write_text(p, s2)
    return True, f"Patched PI05 transformers guard (raise->warn) in: {p}"


# -------------------------
# Patch 2: LeRobot policies optional imports
# -------------------------

def find_policies_init() -> pathlib.Path:
    env = os.getenv("POLICIES_INIT_FILE")
    if env:
        p = pathlib.Path(env)
        if p.exists():
            return p

    p = _search_file(_default_roots(), "__init__.py", must_contain="/lerobot/policies/")
    if p and p.exists():
        return p

    raise FileNotFoundError("lerobot/policies/__init__.py not found. Set POLICIES_INIT_FILE env var.")


def patch_policies_optional_imports(p: pathlib.Path) -> Tuple[bool, str]:
    """
    Make ONLY Groot/Diffusers imports optional.
    This avoids wrapping unrelated exports/imports.
    """
    s = _read_text(p)
    marker = "PATCH: optional Groot/Diffusers imports"
    if marker in s:
        return False, f"Policies optional-import patch already present: {p}"

    lines = s.splitlines(True)

    def is_groot_line(line: str) -> bool:
        # strict filter: only lines that import groot submodule
        return bool(re.search(r"^\s*from\s+\.\s*groot\b|^\s*from\s+\.groot\b|^\s*import\s+.*\bgroot\b", line))

    idxs = [i for i, l in enumerate(lines) if is_groot_line(l)]
    if not idxs:
        return False, f"No Groot imports found to wrap in: {p}"

    # group consecutive indices
    groups = []
    start = prev = idxs[0]
    for i in idxs[1:]:
        if i == prev + 1:
            prev = i
        else:
            groups.append((start, prev))
            start = prev = i
    groups.append((start, prev))

    new_lines = []
    last_end = -1
    for (a, b) in groups:
        # copy lines before this group
        new_lines.extend(lines[last_end + 1:a])

        # wrap group
        new_lines.append("# --- PATCH: optional Groot/Diffusers imports ---\n")
        new_lines.append(f"try:  # {marker}\n")
        for j in range(a, b + 1):
            new_lines.append("    " + lines[j].lstrip())
        new_lines.append("except Exception as _e:\n")
        new_lines.append("    print('[policies_init] WARNING: optional groot deps missing:', _e)\n")

        last_end = b

    # copy rest
    new_lines.extend(lines[last_end + 1:])

    s2 = "".join(new_lines)
    if s2 == s:
        return False, f"Policies file unchanged after optional-import attempt: {p}"

    _write_text(p, s2)
    return True, f"Patched policies __init__ optional imports in: {p}"


# -------------------------
# Patch 3: eval_sigma_vla_rollout.py
# -------------------------

def find_eval_file() -> pathlib.Path:
    env = os.getenv("EVAL_FILE")
    if env:
        p = pathlib.Path(env)
        if p.exists():
            return p

    p = pathlib.Path("/workspace/eval_sigma_vla_rollout.py")
    if p.exists():
        return p

    pp = _search_file(["/workspace", "/workspace/lerobot"], "eval_sigma_vla_rollout.py")
    if pp and pp.exists():
        return pp

    raise FileNotFoundError("eval_sigma_vla_rollout.py not found. Set EVAL_FILE env var.")


def patch_eval_force_strict_false(p: pathlib.Path) -> Tuple[bool, str]:
    s = _read_text(p)
    marker = "PATCH: force strict=False for PI05Policy"

    # 1) strict=True -> strict=False in PI05 loads
    pat_strict_true = r"(policy_cls\.from_pretrained\([^)]*strict\s*=\s*)True(\s*[^)]*\))"
    s2, n_true = re.subn(pat_strict_true, r"\1False\2", s)

    # 2) add strict=False if missing on PI05 loads
    def _add_strict_false_call(match: re.Match) -> str:
        call = match.group(0)
        if "strict" in call:
            return call
        return call[:-1] + ", strict=False)"

    pat_no_strict_1 = r"policy_cls\.from_pretrained\(\s*repo_id\s*,\s*token\s*=\s*hf_token\s*\)"
    pat_no_strict_2 = r"policy_cls\.from_pretrained\(\s*pretrained_name_or_path\s*=\s*repo_id\s*,\s*token\s*=\s*hf_token\s*\)"

    s3, n_add1 = re.subn(pat_no_strict_1, _add_strict_false_call, s2)
    s4, n_add2 = re.subn(pat_no_strict_2, _add_strict_false_call, s3)

    changed = (n_true + n_add1 + n_add2) > 0
    if not changed:
        if marker in s:
            return False, f"Eval strict patch already present: {p}"
        return False, f"Eval already strict=False or no PI05 strict targets found: {p}"

    if marker not in s4:
        # annotate the first strict=False we introduced / touched
        s4 = s4.replace("strict=False)", f"strict=False)  # {marker}", 1)

    _write_text(p, s4)
    return True, f"Patched eval PI05 strict=False in: {p}"


def patch_eval_shuffle_support(p: pathlib.Path) -> Tuple[bool, str]:
    s = _read_text(p)
    marker_arg = "PATCH: add --shuffle arg"
    marker_dl = "PATCH: DataLoader shuffle uses args.shuffle"

    changed = False

    # 1) add CLI arg --shuffle if absent
    if re.search(r'add_argument\(\s*["\']--shuffle["\']', s) is None:
        # find last parser.add_argument(...) to insert after
        arg_pat = re.compile(r"(?m)^\s*parser\.add_argument\(.+?\)\s*$")
        matches = list(arg_pat.finditer(s))
        if matches:
            last = matches[-1]
            insert_pos = last.end()
            insert_text = (
                "\nparser.add_argument("
                "\"--shuffle\", action=\"store_true\", "
                "help=\"Shuffle dataset order to sample different subsets per seed.\")"
                f"  # {marker_arg}\n"
            )
            s = s[:insert_pos] + insert_text + s[insert_pos:]
            changed = True

    # 2) DataLoader(... shuffle=False ...) -> args.shuffle
    if marker_dl not in s:
        def _dl_repl(m: re.Match) -> str:
            prefix = m.group(1)
            return prefix + f'getattr(args, "shuffle", False)  # {marker_dl}'

        # replace only literal shuffle=False
        pat_dl = re.compile(r"(?s)(DataLoader\([\s\S]{0,1200}?shuffle\s*=\s*)False")
        if pat_dl.search(s):
            s = pat_dl.sub(_dl_repl, s, count=1)
            changed = True

    if changed:
        _write_text(p, s)
        return True, f"Patched eval shuffle support in: {p}"

    return False, f"Eval shuffle support already present or no targets found: {p}"


# -------------------------
# Main
# -------------------------

def main():
    changed_any = False

    try:
        pi05_file = find_pi05_file()
        changed, msg = patch_pi05_embed_tie(pi05_file)
        print(msg)
        changed_any |= changed
    except Exception as e:
        print("[patch_sigma_env] PI05 embed-tie patch skipped:", e)

    try:
        pi05_file = find_pi05_file()
        changed, msg = patch_pi05_transformers_guard(pi05_file)
        print(msg)
        changed_any |= changed
    except Exception as e:
        print("[patch_sigma_env] PI05 transformers-guard patch skipped:", e)

    try:
        policies_init = find_policies_init()
        changed, msg = patch_policies_optional_imports(policies_init)
        print(msg)
        changed_any |= changed
    except Exception as e:
        print("[patch_sigma_env] policies __init__ patch skipped:", e)

    try:
        eval_file = find_eval_file()
        changed, msg = patch_eval_force_strict_false(eval_file)
        print(msg)
        changed_any |= changed
    except Exception as e:
        print("[patch_sigma_env] Eval strict patch skipped:", e)

    try:
        eval_file = find_eval_file()
        changed, msg = patch_eval_shuffle_support(eval_file)
        print(msg)
        changed_any |= changed
    except Exception as e:
        print("[patch_sigma_env] Eval shuffle patch skipped:", e)

    if changed_any:
        print("[patch_sigma_env] Done. Patches applied.")
    else:
        print("[patch_sigma_env] Done. Nothing to change (already patched).")


if __name__ == "__main__":
    main()