Remove robotics backend (flagos-ai#1070)

### PR Category
Train

### PR Types
Deprecations

### PR Description
Remove robotics backend

Author: Hchnr

examples/robobrain_x0_5/conf/train.yaml

@@ -11,7 +11,7 @@ experiment:
   ckpt_format: torch
   task:
     type: train
-    backend: robotics
+    backend: native
     entrypoint: flagscale/train/megatron/train_robobrain_x0.5_qwengroot.py
   runner:
     per_node_task: false

examples/robobrain_x0_5/conf/train/libero_qwengroot.yaml

@@ -1,4 +1,3 @@
-config_path: examples/robobrain_x0_5/conf/train/libero_qwengroot.yaml
 seed: 42
 trackers: [jsonl, wandb]
 wandb_entity: jinhuiye

flagscale/runner/backend/backend_megatron.py

@@ -6,7 +6,6 @@
 from flagscale.runner.backend.backend_base import BackendBase
 from flagscale.runner.runner_train import (
     _get_args_megatron,
-    _get_args_robotics,
     _update_config_train,
 )
 from flagscale.runner.utils import logger, parse_hostfile
@@ -21,10 +20,7 @@ def __init__(self, config: DictConfig):
 
     def _prepare(self):
         _update_config_train(self.config)
-        if self.config.experiment.task.backend == "megatron":
-            self.user_args = _get_args_megatron(self.config)
-        elif self.config.experiment.task.backend == "robotics":
-            self.user_args = _get_args_robotics(self.config)
+        self.user_args = _get_args_megatron(self.config)
         self.rdzv_id = datetime.now().strftime("%Y%m%d_%H%M%S.%f")
         self.user_envs = self.config.experiment.get("envs", {})
         self.user_script = self.config.experiment.task.entrypoint

flagscale/runner/runner_train.py

@@ -49,18 +49,6 @@ def _get_args_megatron(config: DictConfig):
     return args
 
 
-def _get_args_robotics(config: DictConfig):
-    assert config.experiment.task.backend == "robotics", (
-        "This function only supports robotics backend."
-    )
-
-    # Convert the DictConfig to a regular dictionary
-    config_dict = OmegaConf.to_container(config, resolve=True)
-    config_dict = config_dict["train"]
-    args = flatten_dict_to_args({"config_path": config_dict["config_path"]})
-    return args
-
-
 def _get_args_native(config: DictConfig):
     """
     Use Hydra-generated config.yaml for native backend.
@@ -387,8 +375,6 @@ def _prepare(self):
         _update_config_train(self.config)
         if self.config.experiment.task.backend == "megatron":
             self.user_args = _get_args_megatron(self.config)
-        elif self.config.experiment.task.backend == "robotics":
-            self.user_args = _get_args_robotics(self.config)
         elif self.config.experiment.task.backend == "native":
             self.user_args = _get_args_native(self.config)
         else:
@@ -827,8 +813,6 @@ def _prepare(self):
         _update_config_train(self.config)
         if self.config.experiment.task.backend == "megatron":
             self.user_args = _get_args_megatron(self.config)
-        elif self.config.experiment.task.backend == "robotics":
-            self.user_args = _get_args_robotics(self.config)
         logger.info("\n************** configuration ***********")
         logger.info(f"\n{OmegaConf.to_yaml(self.config)}")
 

flagscale/train/megatron/train_robobrain_x0.5_qwengroot.py

@@ -12,19 +12,15 @@
 import platform
 import random
 
-from typing import Tuple
-
 import epath
 import numpy as np
 import torch
 import torch.distributed as dist
-
 from omegaconf import OmegaConf
 from torch.nn.parallel import DistributedDataParallel as DDP
 from transformers import get_scheduler
 
 import wandb
-
 from megatron.energon import WorkerConfig, get_loader, get_train_dataset
 from tools.datasets.vla.data.dataset_helpers_np_pil import TaskEncoder
 
@@ -66,7 +62,7 @@ def build_param_lr_groups(model, cfg):
 
 def setup_optimizer_and_scheduler(
     model, cfg
-) -> Tuple[torch.optim.Optimizer, torch.optim.lr_scheduler._LRScheduler]:
+) -> tuple[torch.optim.Optimizer, torch.optim.lr_scheduler._LRScheduler]:
     """set optimizer and scheduler"""
     # initialize optimizer
     param_groups = build_param_lr_groups(model=model, cfg=cfg)
@@ -191,11 +187,11 @@ def main(cfg) -> None:
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
     parser.add_argument(
-        "--config-path",
+        "--config-file",
         type=str,
-        default="examples/robotics/conf/train/libero_qwengroot.yaml",
+        default="outputs/libero_qwengroot/hydra/.hydra/config.yaml",
         help="Path to YAML config",
     )
     args, clipargs = parser.parse_known_args()
-    cfg = OmegaConf.load(args.config_path)
-    main(cfg)
+    cfg = OmegaConf.load(args.config_file)
+    main(cfg.train)

run.py

@@ -74,9 +74,7 @@ def get_runner(config: DictConfig, task_type: str):
         else:
             raise NotImplementedError(f"Task type '{task_type}' is not supported by cloud runner")
 
-    if FLAGSCALE_USE_V1 and config.experiment.task.get("backend", None) not in {
-        "robotics",
-    }:
+    if FLAGSCALE_USE_V1:
         return Runner(config)
 
     logger.warning(