feat(dfot): diffusion-forcing algo, evaluators, configs and tests

egomimic/algo/diffusion/__init__.py

@@ -0,0 +1,93 @@
+"""DFoT (Diffusion Forcing Transformer) ALGO package (DESIGN.md §2
+``egomimic/algo/diffusion/``).
+
+Role home for the *algo* half of the diffusion stack — the :class:`DFoT` algo,
+its per-variant outer-stages, and the VAE pre-train algo. Relocated here from
+``egomimic/algo/dfot`` (+ ``egomimic/algo/vae``) in DESIGN.md step 7 via
+``git mv`` (no behaviour change); the *model* half (backbones / diffusion
+processes / embeddings / sampling) lives at ``egomimic.models.diffusion``.
+
+  * :class:`DFoT`                      — the diffusion-forcing algo.
+  * ``outer_stages/``                  — per-variant OuterStage subclasses
+                                         (spatial / pixel / obs-action / ...).
+  * :class:`VAE` + ``load_pretrained_vae`` (``vae_algo``) — image VAE pre-train.
+
+The legacy ``egomimic.algo.dfot`` / ``egomimic.algo.vae`` facade shims (and the
+yaml ``_target_``s that routed through them) were deleted at the DESIGN.md
+step-13 final flip; every consumer now imports from ``egomimic.algo.diffusion``
+/ ``egomimic.models.diffusion`` directly.
+"""
+
+from egomimic.algo.diffusion.algo import DFoT
+from egomimic.algo.diffusion.outer_stages.outer_stage import (
+    DFoTOuterStage,
+    make_dfot_ctx,
+)
+from egomimic.algo.diffusion.outer_stages.image_spatial_outer_stage import (
+    ImageSpatialDFoTOuterStage,
+)
+from egomimic.algo.diffusion.outer_stages.obs_action_image_outer_stage import (
+    ObsActionImageDFoTOuterStage,
+)
+from egomimic.algo.diffusion.outer_stages.obs_action_outer_stage import (
+    ObsActionDFoTOuterStage,
+)
+from egomimic.algo.diffusion.outer_stages.pixel_obs_action_outer_stage import (  # noqa: E501
+    PixelObsActionDFoTOuterStage,
+)
+from egomimic.algo.diffusion.outer_stages.pixel_spatial_outer_stage import (
+    PixelSpatialDFoTOuterStage,
+)
+from egomimic.algo.diffusion.outer_stages.pixel_video_outer_stage import (
+    PixelVideoDFoTOuterStage,
+)
+from egomimic.algo.diffusion.outer_stages.spatial_obs_action_policy_outer_stage import (  # noqa: E501
+    SpatialObsActionPolicyDFoTOuterStage,
+)
+from egomimic.algo.diffusion.vae_algo import VAE, load_pretrained_vae
+
+# Convenience re-exports of the model-half pieces some legacy code imports via
+# the algo namespace (kept here so ``from egomimic.algo.diffusion import
+# DFoTBackbone`` mirrors the model-half surface).
+from egomimic.models.diffusion import (
+    ContinuousDiffusion,
+    DFoTBackbone,
+    DFoTDiT3DBackbone,
+    DFoTSpatialBackbone,
+    DiscreteDiffusion,
+    causal_ar_schedule,
+    ddim_sample,
+    ddpm_sample,
+    sample,
+    sample_step,
+    staircase_ar_schedule,
+    vanilla_schedule,
+)
+
+__all__ = [
+    "DFoT",
+    "DFoTOuterStage",
+    "make_dfot_ctx",
+    "ImageSpatialDFoTOuterStage",
+    "ObsActionImageDFoTOuterStage",
+    "ObsActionDFoTOuterStage",
+    "PixelObsActionDFoTOuterStage",
+    "PixelSpatialDFoTOuterStage",
+    "PixelVideoDFoTOuterStage",
+    "SpatialObsActionPolicyDFoTOuterStage",
+    "VAE",
+    "load_pretrained_vae",
+    # model-half re-exports
+    "DFoTBackbone",
+    "DFoTDiT3DBackbone",
+    "DFoTSpatialBackbone",
+    "ContinuousDiffusion",
+    "DiscreteDiffusion",
+    "sample_step",
+    "sample",
+    "vanilla_schedule",
+    "causal_ar_schedule",
+    "staircase_ar_schedule",
+    "ddim_sample",
+    "ddpm_sample",
+]