# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import argparse
import copy
import os
import time
from typing import Dict, Optional

import modelopt.torch.quantization as mtq
import numpy as np
import torch
import torch.utils.checkpoint as cp
from torch.utils.data import DataLoader, Dataset
from transformers import AutoConfig
from transformers.models.qwen3.modeling_qwen3 import Qwen3ForCausalLM
from transformers.models.siglip.configuration_siglip import SiglipVisionConfig
from transformers.models.siglip.modeling_siglip import (
    SiglipVisionEmbeddings,
    SiglipVisionTransformer,
)

from gr00t.data.dataset import LeRobotSingleDataset
from gr00t.experiment.data_config import load_data_config
from gr00t.model.backbone.eagle_backbone import DEFAULT_EAGLE_PATH, EagleBackbone
from gr00t.model.policy import Gr00tPolicy, unsqueeze_dict_values


def no_batch_collate_fn(batch):
    """Collate function that returns the first item without adding batch dimension."""
    return batch[0]


class ViTCalibrationDataset(Dataset):
    """
    A dataset that uses LeRobotSingleDataset for ViT calibration data.
    This provides realistic calibration data for the vision transformer.
    """

    def __init__(
        self,
        dataset_path: str,
        modality_configs: dict,
        embodiment_tag: str,
        policy: Gr00tPolicy,
        calib_size: int = 100,
        video_backend: str = "decord",
    ):
        """
        Initialize the ViT calibration dataset.

        Args:
            dataset_path: Path to the LeRobot dataset
            modality_configs: Modality configuration for the dataset
            embodiment_tag: Embodiment tag for the dataset
            policy: Gr00tPolicy instance for using apply_transforms()
            calib_size: Number of calibration samples to use
            video_backend: Video backend for loading videos
        """
        self.calib_size = calib_size
        self.policy = policy

        # Initialize the LeRobot dataset
        self.lerobot_dataset = LeRobotSingleDataset(
            dataset_path=dataset_path,
            modality_configs=modality_configs,
            embodiment_tag=embodiment_tag,
            video_backend=video_backend,
        )

        # Use sequential indices for calibration
        self.dataset_size = len(self.lerobot_dataset)
        print(f"ViT Dataset size: {self.dataset_size}")
        self.calib_size = min(calib_size, self.dataset_size)

    def __len__(self):
        return self.calib_size

    def __getitem__(self, idx):
        # Use sequential indices directly
        data = self.lerobot_dataset[idx]

        # Process the data to get pixel_values and position_ids for ViT
        processed_data = self._process_vit_data(data)
        return processed_data

    def _process_vit_data(self, data):
        """
        Process LeRobot data to extract pixel_values and position_ids for ViT calibration.
        """
        try:
            # Ensure data is in the correct format for apply_transforms
            is_batch = self.policy._check_state_is_batched(data)
            if not is_batch:
                data = unsqueeze_dict_values(data)

            # Apply the same transforms as used in training/inference
            transformed_data = self.policy.apply_transforms(data)

            # Check if we have eagle pixel values
            if "eagle_pixel_values" in transformed_data:
                pixel_values = transformed_data["eagle_pixel_values"]
                batch_size = pixel_values.shape[0]
                # Generate position_ids for the patches
                num_patches = (
                    self.policy.model.backbone.eagle_model.vision_model.vision_model.embeddings.num_patches
                )
                position_ids = torch.arange(
                    num_patches, dtype=torch.long, device=pixel_values.device
                ).expand((batch_size, -1))
                return {
                    "pixel_values": pixel_values,
                    "position_ids": position_ids,
                }
            else:
                raise RuntimeError(
                    "eagle data not found in transformed_data. This indicates an issue with apply_transforms()."
                )
        except Exception as e:
            print(f"Warning: ViT data processing failed: {e}, using dummy data")
            raise RuntimeError(f"apply_transforms() failed: {e}")


class LLMCalibrationDataset(Dataset):
    """
    A dataset that uses LeRobotSingleDataset for LLM calibration data.
    This provides more realistic calibration data compared to random data.
    Uses apply_transforms() for consistent data processing.
    """

    def __init__(
        self,
        dataset_path: str,
        modality_configs: dict,
        embodiment_tag: str,
        policy: Gr00tPolicy,
        calib_size: int = 100,
        video_backend: str = "decord",
        enable_comparison: bool = False,
    ):
        """
        Initialize the LeRobot calibration dataset.

        Args:
            dataset_path: Path to the LeRobot dataset
            modality_configs: Modality configuration for the dataset
            embodiment_tag: Embodiment tag for the dataset
            policy: Gr00tPolicy instance for using apply_transforms()
            calib_size: Number of calibration samples to use
            video_backend: Video backend for loading videos
            enable_comparison: Whether to enable input_embeds comparison with saved file
        """
        self.calib_size = calib_size
        self.policy = policy
        self.enable_comparison = enable_comparison

        # Initialize the LeRobot dataset
        self.lerobot_dataset = LeRobotSingleDataset(
            dataset_path=dataset_path,
            modality_configs=modality_configs,
            embodiment_tag=embodiment_tag,
            video_backend=video_backend,
        )

        # Use sequential indices for calibration
        self.dataset_size = len(self.lerobot_dataset)
        print(f"Dataset size: {self.dataset_size}")
        self.calib_size = min(calib_size, self.dataset_size)

    def __len__(self):
        return self.calib_size

    def __getitem__(self, idx):
        # Use sequential indices directly
        data = self.lerobot_dataset[idx]

        # Process the data to get input_ids, vit_embeds, and attention_mask
        processed_data = self._process_llm_data(data)

        return processed_data

    def _process_llm_data(self, data):
        """
        Process LLM data to extract input_ids, vit_embeds, and attention_mask
        for LLM calibration using apply_transforms() for consistent data processing.
        """
        # Use apply_transforms() for consistent data processing
        try:
            # Ensure data is in the correct format for apply_transforms
            is_batch = self.policy._check_state_is_batched(data)
            if not is_batch:
                data = unsqueeze_dict_values(data)

            # Apply the same transforms as used in training/inference
            transformed_data = self.policy.apply_transforms(data)

            # Check if we have eagle data (from apply_transforms)
            if "eagle_input_ids" in transformed_data and "eagle_pixel_values" in transformed_data:
                # Use the already processed eagle data
                pixel_values = transformed_data["eagle_pixel_values"]
                input_ids = transformed_data["eagle_input_ids"]
                attention_mask = transformed_data["eagle_attention_mask"]

                # Extract vit_embeds using the actual ViT model from the policy
                try:
                    # Use the policy's eagle model for consistent feature extraction
                    with torch.no_grad():
                        # Move pixel_values to CUDA before feature extraction
                        pixel_values = pixel_values.to("cuda")
                        # Extract vit_embeds using the policy's eagle model
                        if self.policy.model.backbone.eagle_model.select_layer == -1:
                            vit_embeds = self.policy.model.backbone.eagle_model.vision_model(
                                pixel_values=pixel_values,
                                output_hidden_states=False,
                                return_dict=True,
                            )
                            if hasattr(vit_embeds, "last_hidden_state"):
                                vit_embeds = vit_embeds.last_hidden_state
                        else:
                            vit_embeds = self.policy.model.backbone.eagle_model.vision_model(
                                pixel_values=pixel_values,
                                output_hidden_states=True,
                                return_dict=True,
                            ).hidden_states[self.policy.model.backbone.eagle_model.select_layer]

                except Exception as e:
                    raise RuntimeError(f"Policy eagle model failed: {e}")

                vit_embeds = vit_embeds.view(1, -1, vit_embeds.shape[-1])

                if self.policy.model.backbone.eagle_model.use_pixel_shuffle:
                    h = w = int(vit_embeds.shape[1] ** 0.5)
                    vit_embeds = vit_embeds.reshape(vit_embeds.shape[0], h, w, -1)
                    vit_embeds = self.policy.model.backbone.pixel_shuffle(
                        vit_embeds, scale_factor=self.policy.model.backbone.downsample_ratio
                    )  # torch.Size([B, 1024, 1024]) -> torch.Size([B, 16, 16, 4096])
                    vit_embeds = vit_embeds.reshape(
                        vit_embeds.shape[0], -1, vit_embeds.shape[-1]
                    )  # torch.Size([B, 16, 16, 4096]) -> torch.Size([B, 256, 4096])

                if (
                    self.policy.model.backbone.eagle_model.mlp_checkpoint
                    and vit_embeds.requires_grad
                ):
                    vit_embeds = cp.checkpoint(
                        self.policy.model.backbone.eagle_model.mlp1, vit_embeds
                    )
                else:
                    vit_embeds = self.policy.model.backbone.eagle_model.mlp1(vit_embeds)

                # Move input_ids to the same device as the model
                input_ids = input_ids.to(next(self.policy.model.parameters()).device)

                # Get input_ids from vl_input and convert to embeddings
                input_embeds = (
                    self.policy.model.backbone.eagle_model.language_model.get_input_embeddings()(
                        input_ids
                    )
                )

                B, N, C = input_embeds.shape
                input_embeds = input_embeds.reshape(B * N, C)

                input_ids_flat = input_ids.reshape(B * N)
                selected = (
                    input_ids_flat == self.policy.model.backbone.eagle_model.image_token_index
                )
                try:
                    input_embeds[selected] = input_embeds[selected] * 0.0 + vit_embeds.reshape(
                        -1, C
                    )
                except Exception as e:
                    vit_embeds = vit_embeds.reshape(-1, C)
                    print(
                        f"warning: {e}, input_embeds[selected].shape={input_embeds[selected].shape}, "
                        f"vit_embeds.shape={vit_embeds.shape}"
                    )
                    n_token = selected.sum()
                    input_embeds[selected] = input_embeds[selected] * 0.0 + vit_embeds[:n_token]

                input_embeds = input_embeds.reshape(B, N, C)

                # Convert to float16 for quantization compatibility
                input_embeds = input_embeds.to(torch.float16)

                return {
                    "inputs_embeds": input_embeds,
                    "attention_mask": attention_mask,
                }
            else:
                # If eagle data is not available, raise an error
                raise RuntimeError(
                    "eagle data not found in transformed_data. This indicates an issue with apply_transforms()."
                )

        except Exception as e:
            raise RuntimeError(f"apply_transforms() failed: {e}")


class DiTCalibrationDataset(Dataset):
    """
    A dataset that uses LeRobotSingleDataset for DiT calibration data.
    This provides realistic calibration data for the diffusion transformer.
    """

    def __init__(
        self,
        dataset_path: str,
        modality_configs: dict,
        embodiment_tag: str,
        policy: Gr00tPolicy,
        calib_size: int = 100,
        video_backend: str = "decord",
    ):
        """
        Initialize the DiT calibration dataset.

        Args:
            dataset_path: Path to the LeRobot dataset
            modality_configs: Modality configuration for the dataset
            embodiment_tag: Embodiment tag for the dataset
            policy: Gr00tPolicy instance for using apply_transforms()
            calib_size: Number of calibration samples to use
            video_backend: Video backend for loading videos
        """
        self.calib_size = calib_size
        self.policy = policy

        # Initialize the LeRobot dataset
        self.lerobot_dataset = LeRobotSingleDataset(
            dataset_path=dataset_path,
            modality_configs=modality_configs,
            embodiment_tag=embodiment_tag,
            video_backend=video_backend,
        )

        # Use sequential indices for calibration
        self.dataset_size = len(self.lerobot_dataset)
        print(f"DiT Dataset size: {self.dataset_size}")
        self.calib_size = min(calib_size, self.dataset_size)

        # Get dimensions from policy
        self.input_embedding_dim = policy.model.action_head.config.input_embedding_dim
        self.backbone_embedding_dim = policy.model.action_head.config.backbone_embedding_dim
        self.action_horizon = policy.model.action_head.config.action_horizon
        self.num_target_vision_tokens = policy.model.action_head.config.num_target_vision_tokens

    def __len__(self):
        return self.calib_size

    def __getitem__(self, idx):
        # Use sequential indices directly
        data = self.lerobot_dataset[idx]

        # Process the data to get DiT inputs
        processed_data = self._process_dit_data(data)

        return processed_data

    def _process_dit_data(self, data):
        """
        Process LeRobot data to prepare inputs for DiT calibration.
        Returns the necessary inputs for running the denoising loop.
        """
        try:
            # Ensure data is in the correct format for apply_transforms
            is_batch = self.policy._check_state_is_batched(data)
            if not is_batch:
                data = unsqueeze_dict_values(data)

            # Apply the same transforms as used in training/inference
            transformed_data = self.policy.apply_transforms(data)

            # Use the model's prepare_input method which returns backbone_inputs and action_inputs
            backbone_inputs, action_inputs = self.policy.model.prepare_input(transformed_data)
            backbone_outputs = self.policy.model.backbone(backbone_inputs)

            backbone_output = self.policy.model.action_head.process_backbone_output(
                backbone_outputs
            )

            # Get vision and language embeddings.
            vl_embs = backbone_output["backbone_features"]
            embodiment_id = action_inputs["embodiment_id"]

            # Embed state.
            state_features = self.policy.model.action_head.state_encoder(
                action_inputs["state"], embodiment_id
            )

            # Set initial actions as the sampled noise.
            batch_size = vl_embs.shape[0]
            device = vl_embs.device
            actions = torch.randn(
                size=(
                    batch_size,
                    self.policy.model.action_head.config.action_horizon,
                    self.policy.model.action_head.config.action_dim,
                ),
                dtype=vl_embs.dtype,
                device=device,
            )

            return {
                "vl_embs": vl_embs,  # Remove batch dimension
                "state_features": state_features,  # Remove batch dimension
                "actions": actions,  # Remove batch dimension
                "embodiment_id": embodiment_id,  # Remove batch dimension
            }
        except Exception as e:
            raise RuntimeError(f"DiT data processing failed: {e}")


def _quantize_model(model, calib_dataloader, quant_cfg):
    """
    The calibration loop for the model can be setup using the modelopt API.
    """

    def calibrate_loop(model):
        """Adjusts weights and scaling factors based on selected algorithms."""
        for idx, data in enumerate(calib_dataloader):
            if idx % 10 == 0:
                print(f"Calibrating batch {idx}...")
            data = {k: v.to(next(model.parameters()).device) for k, v in data.items()}
            model(**data)

    print("Starting quantization...")
    start_time = time.time()
    mtq.quantize(model, quant_cfg, forward_loop=calibrate_loop)
    end_time = time.time()
    print(f"Quantization finishes in {end_time - start_time}s.")

    return model


def _quantize_dit_model(model, calib_dataloader, quant_cfg, action_head):
    """
    Custom calibration loop for DiT model that runs the full denoising process.
    DiT requires multiple forward passes (typically 4 steps) for proper calibration.
    """

    def calibrate_loop(model):
        """Run the denoising loop for DiT calibration."""
        for idx, data in enumerate(calib_dataloader):
            if idx % 10 == 0:
                print(f"Calibrating DiT batch {idx}...")

            # Move data to device
            device = next(model.parameters()).device
            vl_embs = data["vl_embs"].to(device)
            state_features = data["state_features"].to(device)
            actions = data["actions"].to(device)
            embodiment_id = data["embodiment_id"].to(device)

            batch_size = vl_embs.shape[0]
            num_steps = action_head.num_inference_timesteps
            dt = 1.0 / num_steps

            # Run denoising steps (typically 4 steps)
            for t in range(num_steps):
                t_cont = t / float(num_steps)
                t_discretized = int(t_cont * action_head.num_timestep_buckets)

                # Embed noised action trajectory
                timesteps_tensor = torch.full(
                    size=(batch_size,), fill_value=t_discretized, device=device
                )
                action_features = action_head.action_encoder(
                    actions, timesteps_tensor, embodiment_id
                )

                # Maybe add position embedding
                if action_head.config.add_pos_embed:
                    pos_ids = torch.arange(
                        action_features.shape[1], dtype=torch.long, device=device
                    )
                    pos_embs = action_head.position_embedding(pos_ids).unsqueeze(0)
                    action_features = action_features + pos_embs

                # Join state, future tokens, and action embeddings
                future_tokens = action_head.future_tokens.weight.unsqueeze(0).expand(
                    batch_size, -1, -1
                )
                sa_embs = torch.cat((state_features, future_tokens, action_features), dim=1)

                # Run DiT model forward (this is what we're calibrating)
                sa_embs_float16 = sa_embs.to(torch.float16)
                vl_embs_float16 = vl_embs.to(torch.float16)

                # Forward pass through model being calibrated (output not used, just for calibration)
                _ = model(
                    hidden_states=sa_embs_float16,
                    encoder_hidden_states=vl_embs_float16,
                    timestep=timesteps_tensor,
                )

                # Forward pass through original model
                model_output = action_head.model(
                    hidden_states=sa_embs,
                    encoder_hidden_states=vl_embs,
                    timestep=timesteps_tensor,
                )

                # Decode predictions
                pred = action_head.action_decoder(model_output, embodiment_id)
                pred_velocity = pred[:, -action_head.config.action_horizon :]

                # Update actions using euler integration
                actions = actions + dt * pred_velocity

    print("Starting DiT quantization with multi-step denoising...")
    start_time = time.time()
    mtq.quantize(model, quant_cfg, forward_loop=calibrate_loop)
    end_time = time.time()
    print(f"DiT quantization finishes in {end_time - start_time}s.")

    return model


def quantize_vit(
    model,
    precision="fp8",
    calib_size=10,
    batch_size=1,
    dataset_path=None,
    modality_configs=None,
    embodiment_tag="gr1",
    video_backend="decord",
    policy=None,
    compare_accuracy=True,
    denoising_steps=4,
    data_config="fourier_gr1_arms_only",
    model_path="nvidia/GR00T-N1.5-3B",
):
    """
    Quantize the ViT model using FP8 quantization.

    Args:
        model: The ViT model to quantize
        precision: Quantization precision (fp8, fp16, etc.)
        calib_size: Number of calibration samples
        batch_size: Batch size for calibration
        dataset_path: Path to LeRobot dataset
        modality_configs: Modality configuration
        embodiment_tag: Embodiment tag
        video_backend: Video backend
        policy: Gr00tPolicy instance
        compare_accuracy: Whether to compare accuracy before/after quantization

    Returns:
        Quantized model
    """
    if mtq is None:
        raise ImportError("modelopt is required for quantization")

    assert precision in [
        "fp8",
        "fp16",
    ], f"Only fp8 and fp16 are supported for ViT. You passed: {precision}."

    # FP8 quantization configuration
    quant_cfg = mtq.FP8_DEFAULT_CFG

    # Disable Conv to avoid accuracy degradation.
    quant_cfg["quant_cfg"]["nn.Conv2d"] = {"*": {"enable": False}}

    # Create the dataset and dataloader
    if dataset_path is None or modality_configs is None or policy is None:
        raise ValueError(
            "ViT quantization requires valid dataset_path, modality_configs, and policy."
        )

    print(f"Using LeRobot dataset for ViT calibration: {dataset_path}")
    data_config_obj = load_data_config(data_config)
    modality_config = data_config_obj.modality_config()
    modality_transform = data_config_obj.transform()
    device = "cuda"
    policy_copy2 = Gr00tPolicy(
        model_path=model_path,
        embodiment_tag=embodiment_tag,
        modality_config=modality_config,
        modality_transform=modality_transform,
        denoising_steps=denoising_steps,
        device=device,
    )
    dataset = ViTCalibrationDataset(
        dataset_path=dataset_path,
        modality_configs=modality_config,
        embodiment_tag=embodiment_tag,
        policy=policy_copy2,
        calib_size=calib_size,
        video_backend=video_backend,
    )

    data_loader = DataLoader(dataset, batch_size=1, shuffle=True, collate_fn=no_batch_collate_fn)

    # Quantize the model if quantization config is provided
    if quant_cfg is not None:
        quantized_model = _quantize_model(model, data_loader, quant_cfg)
        mtq.print_quant_summary(quantized_model)

        return quantized_model
    else:
        print("No quantization applied to ViT model")
        return model


def quantize_dit(
    model,
    precision="fp8",
    calib_size=10,
    batch_size=1,
    dataset_path=None,
    modality_configs=None,
    embodiment_tag="gr1",
    video_backend="decord",
    policy=None,
    compare_accuracy=True,
    attention_mask=None,
    input_state=None,
    denoising_steps=4,
    data_config="fourier_gr1_arms_only",
    model_path="nvidia/GR00T-N1.5-3B",
):
    """
    Quantize the DiT (Diffusion Transformer) model using FP8 quantization.

    Args:
        model: The DiT model to quantize
        action_head: The action head containing encoder/decoder and other components
        precision: Quantization precision (fp8, fp16, etc.)
        calib_size: Number of calibration samples
        batch_size: Batch size for calibration
        dataset_path: Path to LeRobot dataset
        modality_configs: Modality configuration
        embodiment_tag: Embodiment tag
        video_backend: Video backend
        policy: Gr00tPolicy instance
        compare_accuracy: Whether to compare accuracy before/after quantization
        attention_mask: Attention mask for sequence length
        input_state: Input state for dimensions

    Returns:
        Quantized model
    """
    if mtq is None:
        raise ImportError("modelopt is required for quantization")

    assert precision in [
        "fp8",
        "fp16",
    ], f"Only fp8 and fp16 are supported for DiT. You passed: {precision}."

    # FP8 quantization configuration for DiT
    quant_cfg = mtq.FP8_DEFAULT_CFG
    quant_cfg["quant_cfg"]["*[qkv]_bmm_quantizer"] = {"num_bits": (4, 3), "axis": None}
    quant_cfg["quant_cfg"]["*softmax_quantizer"] = {"num_bits": (4, 3), "axis": None}

    # Create the dataset and dataloader
    if dataset_path is None or modality_configs is None or policy is None:
        raise ValueError(
            "DiT quantization requires valid dataset_path, modality_configs, and policy."
        )

    print(f"Using LeRobot dataset for DiT calibration: {dataset_path}")
    data_config_obj = load_data_config(data_config)
    modality_config = data_config_obj.modality_config()
    modality_transform = data_config_obj.transform()
    device = "cuda"
    policy_copy = Gr00tPolicy(
        model_path=model_path,
        embodiment_tag=embodiment_tag,
        modality_config=modality_config,
        modality_transform=modality_transform,
        denoising_steps=denoising_steps,
        device=device,
    )
    dataset = DiTCalibrationDataset(
        dataset_path=dataset_path,
        modality_configs=modality_config,
        embodiment_tag=embodiment_tag,
        policy=policy_copy,
        calib_size=calib_size,
        video_backend=video_backend,
    )

    data_loader = DataLoader(dataset, batch_size=1, shuffle=True, collate_fn=no_batch_collate_fn)

    # Quantize the model if quantization config is provided
    if quant_cfg is not None:
        # Use custom DiT calibration function that runs the denoising loop
        quantized_model = _quantize_dit_model(
            model, data_loader, quant_cfg, policy_copy.model.action_head
        )
        mtq.print_quant_summary(quantized_model)

        return quantized_model
    else:
        print("No quantization applied to DiT model")
        return model


def compare_model_accuracy(original_model, quantized_model, test_data, device="cuda"):
    """
    Compare accuracy between original and quantized models.

    Args:
        original_model: The original model before quantization
        quantized_model: The quantized model after quantization
        test_data: Test data for comparison
        device: Device to run comparison on

    Returns:
        dict: Comparison results including mean difference, max difference, etc.
    """
    print("\n🔍 COMPARING MODEL ACCURACY BEFORE AND AFTER QUANTIZATION...")

    original_model.eval()
    quantized_model.eval()

    differences = []
    max_diffs = []

    with torch.no_grad():
        for i, data in enumerate(test_data):
            if i >= 5:  # Limit to 5 samples for comparison
                break

            # Move data to device
            data = {k: v.to(device) if isinstance(v, torch.Tensor) else v for k, v in data.items()}

            try:
                # Get outputs from both models
                original_output = original_model(**data)
                quantized_output = quantized_model(**data)

                # Calculate difference
                if isinstance(original_output, torch.Tensor) and isinstance(
                    quantized_output, torch.Tensor
                ):
                    diff = torch.abs(original_output - quantized_output)
                    mean_diff = torch.mean(diff).item()
                    max_diff = torch.max(diff).item()
                    # Compute cosine similarity
                    orig_flat = original_output.flatten()
                    quant_flat = quantized_output.flatten()
                    cos_sim = torch.nn.functional.cosine_similarity(
                        orig_flat.unsqueeze(0), quant_flat.unsqueeze(0)
                    ).item()
                    print(f"Cosine similarity: {cos_sim:.6f}")

                    differences.append(mean_diff)
                    max_diffs.append(max_diff)
                    # INSERT_YOUR_CODE
                    print(f"Sample {i+1}: Mean diff: {mean_diff:.6f}, Max diff: {max_diff:.6f}")
                    # Print the position and the original value of the max diff
                    max_diff_pos = (diff == torch.max(diff)).nonzero(as_tuple=True)
                    if len(max_diff_pos[0]) > 0:
                        idx = tuple(pos[0].item() for pos in max_diff_pos)
                        print(f"Position of max diff: {idx}")
                        print(
                            f"Original value at this position: {original_output[idx] if isinstance(original_output, torch.Tensor) else original_output.logits[idx]}"
                        )

                elif hasattr(original_output, "logits") and hasattr(quantized_output, "logits"):
                    # Handle model outputs with logits
                    diff = torch.abs(original_output.logits - quantized_output.logits)
                    mean_diff = torch.mean(diff).item()
                    max_diff = torch.max(diff).item()

                    differences.append(mean_diff)
                    max_diffs.append(max_diff)

                    print(f"Sample {i+1}: Mean diff: {mean_diff:.6f}, Max diff: {max_diff:.6f}")

            except Exception as e:
                print(f"Error comparing sample {i+1}: {e}")
                continue

    if differences:
        avg_mean_diff = sum(differences) / len(differences)
        avg_max_diff = sum(max_diffs) / len(max_diffs)
        overall_max_diff = max(max_diffs)

        print("\n📊 QUANTIZATION ACCURACY SUMMARY:")
        print(f"Average mean difference: {avg_mean_diff:.6f}")
        print(f"Average max difference: {avg_max_diff:.6f}")
        print(f"Overall max difference: {overall_max_diff:.6f}")

        # Determine if quantization is acceptable
        if avg_mean_diff < 0.01:
            print("✅ Quantization accuracy is excellent (< 0.01)")
        elif avg_mean_diff < 0.1:
            print("✅ Quantization accuracy is good (< 0.1)")
        elif avg_mean_diff < 0.5:
            print("⚠️  Quantization accuracy is acceptable (< 0.5)")
        else:
            print("❌ Quantization accuracy is poor (> 0.5)")

        return {
            "avg_mean_diff": avg_mean_diff,
            "avg_max_diff": avg_max_diff,
            "overall_max_diff": overall_max_diff,
            "num_samples": len(differences),
        }
    else:
        print("❌ No valid comparisons could be made")
        return None


def quantize_llm(
    model,
    precision,
    calib_size=10,
    batch_size=1,
    dataset_path=None,
    modality_configs=None,
    embodiment_tag="gr1",
    video_backend="decord",
    policy=None,
    compare_accuracy=True,
    denoising_steps=4,
    data_config="fourier_gr1_arms_only",
    model_path="nvidia/GR00T-N1.5-3B",
    full_layer_quant=False,
):
    if mtq is None:
        raise ImportError("modelopt is required for quantization")

    assert precision in [
        "nvfp4",
        "fp8",
    ], f"Only nvfp4 (W4A4) and fp8 are supported. You passed an unsupported precision: {precision}."

    # Configure quantization based on precision
    if precision == "nvfp4":
        # NVFP4_AWQ configs usually have better accuracy. You may also try other configs.
        assert hasattr(mtq, "NVFP4_AWQ_LITE_CFG")
        quant_cfg = mtq.NVFP4_AWQ_FULL_CFG
    else:  # fp8
        # FP8 quantization configuration
        quant_cfg = mtq.FP8_DEFAULT_CFG

    # Apply layer-specific configurations for nvfp4
    if precision == "nvfp4" and not full_layer_quant:
        # Disable quantization for specific layers when full_layer_quant is False
        print("Using selective layer quantization (disabling down_proj and o_proj)")
        quant_cfg["quant_cfg"][
            "eagle_model.language_model.model.layers.*.mlp.down_proj.*_quantizer"
        ] = {
            "num_bits": (2, 1),
            "block_sizes": {-1: 16, "type": "dynamic", "scale_bits": (4, 3)},
            "axis": None,
            "enable": False,
        }
        quant_cfg["quant_cfg"][
            "eagle_model.language_model.model.layers.*.self_attn.o_proj.*_quantizer"
        ] = {
            "num_bits": (2, 1),
            "block_sizes": {-1: 16, "type": "dynamic", "scale_bits": (4, 3)},
            "axis": None,
            "enable": False,
        }
    elif precision == "nvfp4" and full_layer_quant:
        print("Using full layer quantization (all layers enabled)")

    print(f"Quantization configuration: {quant_cfg}")

    # Create the dataset and dataloader
    if dataset_path is None or modality_configs is None:
        raise ValueError("LLM quantization requires valid dataset_path and modality_configs.")

    print(f"Using LeRobot dataset for calibration: {dataset_path}")
    # Deep copy the policy to avoid any modifications during calibration
    # policy_copy = copy.deepcopy(policy)
    # load the policy
    data_config_obj = load_data_config(data_config)
    modality_config = data_config_obj.modality_config()
    modality_transform = data_config_obj.transform()
    device = "cuda"
    policy_copy = Gr00tPolicy(
        model_path=model_path,
        embodiment_tag=embodiment_tag,
        modality_config=modality_config,
        modality_transform=modality_transform,
        denoising_steps=denoising_steps,
        device=device,
    )
    dataset = LLMCalibrationDataset(
        dataset_path=dataset_path,
        modality_configs=modality_configs,
        embodiment_tag=embodiment_tag,
        policy=policy_copy,
        calib_size=calib_size,
        video_backend=video_backend,
    )

    data_loader = DataLoader(dataset, batch_size=1, shuffle=True, collate_fn=no_batch_collate_fn)

    # Store original model for comparison
    original_model = None
    if compare_accuracy:
        print("📋 Creating backup of original model for accuracy comparison...")
        original_model = copy.deepcopy(model)
        original_model.eval()

    # Quantize the model
    quantized_model = _quantize_model(model, data_loader, quant_cfg)
    mtq.print_quant_summary(quantized_model)
    # Compare accuracy if requested
    if compare_accuracy and original_model is not None:
        print("\n🔍 Starting accuracy comparison...")
        try:
            # Create a test dataset (use first few samples from calibration data)
            test_data = DataLoader(
                dataset, batch_size=1, shuffle=False, collate_fn=no_batch_collate_fn
            )
            comparison_results = compare_model_accuracy(original_model, quantized_model, test_data)

            if comparison_results:
                print("\n📈 FINAL QUANTIZATION RESULTS:")
                print("✅ Quantization completed successfully!")
                print(f"📊 Accuracy comparison: {comparison_results['num_samples']} samples tested")
                print(f"📊 Average mean difference: {comparison_results['avg_mean_diff']:.6f}")
                print(f"📊 Overall max difference: {comparison_results['overall_max_diff']:.6f}")
            else:
                print("⚠️  Accuracy comparison failed, but quantization completed")

        except Exception as e:
            print(f"⚠️  Accuracy comparison failed: {e}")
            print("✅ Quantization completed successfully despite comparison failure")

    return quantized_model


def get_input_info(policy, observations):
    is_batch = policy._check_state_is_batched(observations)
    if not is_batch:
        observations = unsqueeze_dict_values(observations)

    normalized_input = unsqueeze_dict_values
    # Apply transforms
    normalized_input = policy.apply_transforms(observations)

    return normalized_input["eagle_attention_mask"], normalized_input["state"]


def export_eagle2_vit(
    vision_model,
    output_dir,
    vit_dtype="fp16",
    calib_dataset_path=None,
    modality_configs=None,
    embodiment_tag="gr1",
    calib_size=10,
    policy=None,
    denoising_steps=4,
    data_config="fourier_gr1_arms_only",
    model_path="nvidia/GR00T-N1.5-3B",
    video_backend="decord",
):
    class SiglipVisionEmbeddingsOpt(SiglipVisionEmbeddings):
        def __init__(self, config):
            super().__init__(config)

        def forward(
            self,
            pixel_values: torch.FloatTensor,
            position_ids: torch.LongTensor,  # position_ids is now an input
            interpolate_pos_encoding=False,
        ) -> torch.Tensor:
            _, _, height, width = pixel_values.shape
            target_dtype = self.patch_embedding.weight.dtype
            patch_embeds = self.patch_embedding(
                pixel_values.to(dtype=target_dtype)
            )  # shape = [*, width, grid, grid]
            embeddings = patch_embeds.flatten(2).transpose(1, 2)

            if interpolate_pos_encoding:
                embeddings = embeddings + self.interpolate_pos_encoding(embeddings, height, width)
            else:
                embeddings = embeddings + self.position_embedding(position_ids)
            return embeddings

    class SiglipVisionTransformerOpt(SiglipVisionTransformer):
        def __init__(self, config: SiglipVisionConfig):
            config._attn_implementation = "eager"
            super().__init__(config)
            self.embeddings = SiglipVisionEmbeddingsOpt(config)

        def forward(
            self,
            pixel_values,
            position_ids,  # Pass position_ids as input
            output_attentions: Optional[bool] = None,
            output_hidden_states: Optional[bool] = None,
            interpolate_pos_encoding: Optional[bool] = False,
        ):
            output_attentions = (
                output_attentions
                if output_attentions is not None
                else self.config.output_attentions
            )
            output_hidden_states = (
                output_hidden_states
                if output_hidden_states is not None
                else self.config.output_hidden_states
            )

            hidden_states = self.embeddings(
                pixel_values,
                position_ids=position_ids,
                interpolate_pos_encoding=interpolate_pos_encoding,
            )

            encoder_outputs = self.encoder(
                inputs_embeds=hidden_states,
                output_attentions=output_attentions,
                output_hidden_states=output_hidden_states,
            )

            last_hidden_state = encoder_outputs.last_hidden_state
            last_hidden_state = self.post_layernorm(last_hidden_state)

            return last_hidden_state

    model = SiglipVisionTransformerOpt(vision_model.config).to(torch.float16)
    model.load_state_dict(vision_model.state_dict())
    model.eval().cuda()

    # Quantize ViT if requested
    if vit_dtype == "fp8":
        print("Quantizing Eagle2 ViT to fp8")
        model = quantize_vit(
            model,
            precision="fp8",
            calib_size=calib_size,
            dataset_path=calib_dataset_path,
            modality_configs=modality_configs,
            embodiment_tag=embodiment_tag,
            policy=policy,
            denoising_steps=denoising_steps,
            data_config=data_config,
            model_path=model_path,
            video_backend=video_backend,
        )

    # Get the number of video views from modality_configs
    num_video_views = 1
    if modality_configs is not None and "video" in modality_configs:
        num_video_views = len(modality_configs["video"].modality_keys)
        print(f"Number of video views detected from modality config: {num_video_views}")
    else:
        print(f"Using default number of video views: {num_video_views}")

    pixel_values = torch.randn(
        (
            num_video_views,
            model.config.num_channels,
            model.config.image_size,
            model.config.image_size,
        ),
        dtype=torch.float16,
        device="cuda",
    )
    position_ids = torch.arange(model.embeddings.num_patches, device="cuda").expand(
        (num_video_views, -1)
    )

    os.makedirs(output_dir, exist_ok=True)
    with torch.inference_mode():
        torch.onnx.export(
            model,
            (pixel_values, position_ids),  # Include position_ids in ONNX export
            f"{output_dir}/eagle2/vit_{vit_dtype}.onnx",
            input_names=["pixel_values", "position_ids"],  # Add position_ids to input names
            output_names=["vit_embeds"],
            opset_version=19,
            do_constant_folding=True,
            dynamic_axes={
                "pixel_values": {0: "batch_size"},
                "position_ids": {0: "batch_size"},
                "vit_embeds": {0: "batch_size"},
            },
        )


def export_eagle2_llm(
    backbone_model,
    backbone_config,
    output_dir,
    attention_mask,
    llm_dtype="fp16",
    calib_dataset_path=None,
    modality_configs=None,
    embodiment_tag="gr1",
    calib_size=10,
    policy=None,
    denoising_steps=4,
    data_config="fourier_gr1_arms_only",
    model_path="nvidia/GR00T-N1.5-3B",
    video_backend="decord",
    full_layer_quant=False,
):
    class EagleBackboneOpt(EagleBackbone):
        def __init__(self, **kwargs):
            super().__init__(**kwargs)

            # Modify LlamamModel architecture for ONNX export
            config = AutoConfig.from_pretrained(DEFAULT_EAGLE_PATH, trust_remote_code=True)
            config._attn_implementation = "eager"  # not use flash attention

            assert config.text_config.architectures[0] == "Qwen3ForCausalLM"
            self.eagle_model.language_model = Qwen3ForCausalLM(config.text_config)

            # # remove parts of the LLM
            while len(self.eagle_model.language_model.model.layers) > kwargs["select_layer"]:
                self.eagle_model.language_model.model.layers.pop(-1)

        def forward(self, inputs_embeds, attention_mask):
            outputs = self.eagle_model.language_model(
                inputs_embeds=inputs_embeds,
                attention_mask=attention_mask,
                output_hidden_states=True,
            )
            eagle_features = outputs.hidden_states[self.select_layer]

            eagle_features = self.eagle_linear(eagle_features)
            return eagle_features

    model = EagleBackboneOpt(**backbone_config).to(torch.float16)
    model.load_state_dict(backbone_model.state_dict())
    model.eval().cuda()

    if llm_dtype in ["nvfp4", "fp8"]:
        print(f"Quantizing Eagle2 LLM to {llm_dtype}")

        model = quantize_llm(
            model,
            llm_dtype,
            calib_size=calib_size,
            dataset_path=calib_dataset_path,
            modality_configs=modality_configs,
            embodiment_tag=embodiment_tag,
            policy=policy,
            denoising_steps=denoising_steps,
            data_config=data_config,
            model_path=model_path,
            video_backend=video_backend,
            full_layer_quant=full_layer_quant,
        )

        # This is required for nvfp4 ONNX export
        if llm_dtype == "nvfp4":
            from modelopt.torch.quantization.utils import is_quantized_linear

            for module in model.modules():
                assert not isinstance(module, torch.nn.Linear) or is_quantized_linear(module)
                if isinstance(module, torch.nn.Linear):
                    module.input_quantizer._trt_high_precision_dtype = "Half"
                    module.input_quantizer._onnx_quantizer_type = "dynamic"
                    module.weight_quantizer._onnx_quantizer_type = "static"

    inputs_embeds = torch.randn(
        (
            1,
            attention_mask.shape[1],
            model.eagle_model.language_model.config.hidden_size,
        ),
        dtype=torch.float16,
    ).cuda()
    attention_mask = torch.ones((1, attention_mask.shape[1]), dtype=torch.int64).cuda()

    # Use different filename for full layer quantization
    llm_dtype_suffix = (
        f"{llm_dtype}_full" if (llm_dtype == "nvfp4" and full_layer_quant) else llm_dtype
    )
    onnx_path = f"{output_dir}/eagle2/llm_{llm_dtype_suffix}.onnx"
    onnx_dir = os.path.dirname(onnx_path)
    os.makedirs(onnx_dir, exist_ok=True)

    start_time = time.time()
    with torch.inference_mode():
        torch.onnx.export(
            model,
            (inputs_embeds, attention_mask),
            onnx_path,
            input_names=["inputs_embeds", "attention_mask"],
            output_names=["embeddings"],
            opset_version=19,
            do_constant_folding=True,
            dynamic_axes={
                "inputs_embeds": {0: "batch_size", 1: "sequence_length"},
                "attention_mask": {0: "batch_size", 1: "sequence_length"},
                "embeddings": {0: "batch_size", 1: "sequence_length"},
            },
        )
    end_time = time.time()
    print(
        f"Eagle2 LLM ONNX Export from torch completed in {end_time - start_time}s. ONNX file is saved to {onnx_path}."
    )

    if llm_dtype == "nvfp4":
        print("Converting nvfp4 ONNX model to 2dq")
        import onnx
        from modelopt.onnx.quantization.qdq_utils import fp4qdq_to_2dq

        onnx_model = onnx.load(onnx_path, load_external_data=True)
        onnx_model = fp4qdq_to_2dq(onnx_model, verbose=True)

        onnx.save_model(
            onnx_model,
            onnx_path,
            save_as_external_data=True,
            all_tensors_to_one_file=True,
            location=f"llm_{llm_dtype}.onnx_data",
            convert_attribute=True,
        )


class VLLN_VLSelfAttention(torch.nn.Module):
    def __init__(self, vlln, vl_self_attention):
        super().__init__()
        self.vlln = vlln
        self.vl_self_attention = vl_self_attention

    def forward(self, backbone_features):
        x = self.vlln(backbone_features)
        x = self.vl_self_attention(x)
        return x


def export_action_head(
    policy,
    ONNX_export_path,
    input_state,
    attention_mask,
    dit_dtype="fp16",
    calib_dataset_path=None,
    modality_configs=None,
    embodiment_tag="gr1",
    calib_size=10,
    denoising_steps=4,
    data_config="fourier_gr1_arms_only",
    model_path="nvidia/GR00T-N1.5-3B",
    video_backend="decord",
):
    """
    Export the action head models to ONNX format with optional DiT quantization.

    Args:
        policy: Gr00tPolicy instance
        ONNX_export_path: Path to save ONNX models
        input_state: Input state tensor
        attention_mask: Attention mask tensor
        dit_dtype: Data type for DiT export (fp16 or fp8 for quantization)
        calib_dataset_path: Path to LeRobot dataset for calibration
        modality_configs: Modality configuration
        embodiment_tag: Embodiment tag
        calib_size: Number of calibration samples
    """
    process_backbone_model = (
        VLLN_VLSelfAttention(
            policy.model.action_head.vlln, policy.model.action_head.vl_self_attention
        )
        .to(torch.float16)
        .cuda()
    )
    backbone_features = torch.randn(
        (1, attention_mask.shape[1], policy.model.action_head.config.backbone_embedding_dim),
        dtype=torch.float16,
    ).cuda()

    torch.onnx.export(
        process_backbone_model,
        (backbone_features),
        os.path.join(ONNX_export_path, "action_head/vlln_vl_self_attention.onnx"),
        export_params=True,
        do_constant_folding=True,
        input_names=["backbone_features"],
        output_names=["output"],
        dynamic_axes={
            "backbone_features": {0: "batch_size", 1: "sequence_length"},
            "output": {0: "batch_size", 1: "sequence_length"},
        },
    )

    state_encoder = policy.model.action_head.state_encoder.to(torch.float16)

    state_tensor = torch.randn(
        (1, input_state.shape[1], input_state.shape[2]), dtype=torch.float16
    ).cuda()
    embodiment_id_tensor = torch.ones((1), dtype=torch.int64).cuda()

    torch.onnx.export(
        state_encoder,
        (state_tensor, embodiment_id_tensor),
        os.path.join(ONNX_export_path, "action_head/state_encoder.onnx"),
        export_params=True,
        do_constant_folding=True,
        input_names=["state", "embodiment_id"],
        output_names=["output"],
        dynamic_axes={
            "state": {0: "batch_size"},
            "embodiment_id": {0: "batch_size"},
            "output": {0: "batch_size"},
        },
    )

    action_encoder = policy.model.action_head.action_encoder.to(torch.float16)
    actions_tensor = torch.randn(
        (
            1,
            policy.model.action_head.config.action_horizon,
            policy.model.action_head.config.action_dim,
        ),
        dtype=torch.float16,
    ).cuda()
    timesteps_tensor = torch.ones((1), dtype=torch.int64).cuda()

    torch.onnx.export(
        action_encoder,
        (actions_tensor, timesteps_tensor, embodiment_id_tensor),
        os.path.join(ONNX_export_path, "action_head/action_encoder.onnx"),
        export_params=True,
        do_constant_folding=True,
        input_names=["actions", "timesteps_tensor", "embodiment_id"],
        output_names=["output"],
        dynamic_axes={
            "actions": {0: "batch_size"},
            "timesteps_tensor": {0: "batch_size"},
            "embodiment_id": {0: "batch_size"},
            "output": {0: "batch_size"},
        },
    )

    # DiT model with optional FP8 quantization
    DiT = policy.model.action_head.model.to(torch.float16).cuda()

    # Quantize DiT if requested
    if dit_dtype == "fp8":
        print("Quantizing DiT to fp8")
        # Use a default dataset path if None
        dataset_path_for_calib = (
            calib_dataset_path if calib_dataset_path is not None else "dummy_path"
        )
        DiT = quantize_dit(
            DiT,
            precision="fp8",
            calib_size=calib_size,
            dataset_path=dataset_path_for_calib,
            modality_configs=modality_configs,
            embodiment_tag=embodiment_tag,
            policy=policy,
            attention_mask=attention_mask,
            input_state=input_state,
            denoising_steps=denoising_steps,
            data_config=data_config,
            model_path=model_path,
            video_backend=video_backend,
        )

    sa_embs_tensor = torch.randn(
        (
            1,
            input_state.shape[1]
            + policy.model.action_head.config.action_horizon
            + policy.model.action_head.config.num_target_vision_tokens,
            policy.model.action_head.config.input_embedding_dim,
        ),
        dtype=torch.float16,
    ).cuda()
    vl_embs_tensor = torch.randn(
        (1, attention_mask.shape[1], policy.model.action_head.config.backbone_embedding_dim),
        dtype=torch.float16,
    ).cuda()

    onnx_path = os.path.join(ONNX_export_path, f"action_head/DiT_{dit_dtype}.onnx")
    torch.onnx.export(
        DiT,
        (sa_embs_tensor, vl_embs_tensor, timesteps_tensor),
        onnx_path,
        export_params=True,
        do_constant_folding=True,
        input_names=["sa_embs", "vl_embs", "timesteps_tensor"],
        output_names=["output"],
        dynamic_axes={
            "sa_embs": {0: "batch_size"},
            "vl_embs": {0: "batch_size", 1: "sequence_length"},
            "timesteps_tensor": {0: "batch_size"},
            "output": {0: "batch_size"},
        },
    )
    print(f"DiT ONNX exported to {onnx_path}")

    action_decoder = policy.model.action_head.action_decoder.to(torch.float16)
    model_output_tensor = torch.randn(
        (
            1,
            input_state.shape[1]
            + policy.model.action_head.config.action_horizon
            + policy.model.action_head.config.num_target_vision_tokens,
            policy.model.action_head.config.hidden_size,
        ),
        dtype=torch.float16,
    ).cuda()
    torch.onnx.export(
        action_decoder,
        (model_output_tensor, embodiment_id_tensor),
        os.path.join(ONNX_export_path, "action_head/action_decoder.onnx"),
        export_params=True,
        do_constant_folding=True,
        input_names=["model_output", "embodiment_id"],
        output_names=["output"],
        dynamic_axes={
            "model_output": {0: "batch_size"},
            "embodiment_id": {0: "batch_size"},
            "output": {0: "batch_size"},
        },
    )


def run_groot_inference(
    dataset_path: str,
    model_path: str,
    onnx_model_path: str,
    data_config: str = "fourier_gr1_arms_only",
    embodiment_tag: str = "gr1",
    denoising_steps: int = 4,
    device: str = "cuda",
    llm_dtype: str = "fp16",
    vit_dtype: str = "fp16",
    dit_dtype: str = "fp16",
    calib_dataset_path: str = None,
    calib_size: int = 10,
    video_backend: str = "decord",
    full_layer_quant: bool = False,
) -> Dict[str, float]:

    # load the policy
    data_config_obj = load_data_config(data_config)
    modality_config = data_config_obj.modality_config()
    modality_transform = data_config_obj.transform()

    policy = Gr00tPolicy(
        model_path=model_path,
        embodiment_tag=embodiment_tag,
        modality_config=modality_config,
        modality_transform=modality_transform,
        denoising_steps=denoising_steps,
        device=device,
    )
    modality_config = policy.modality_config
    # load the dataset
    dataset = LeRobotSingleDataset(
        dataset_path=dataset_path,
        modality_configs=modality_config,
        embodiment_tag=embodiment_tag,
        video_backend=video_backend,
        video_backend_kwargs=None,
        transforms=None,  # We'll handle transforms separately through the policy
    )

    step_data = dataset[0]
    # get the action
    predicted_action = policy.get_action(step_data)

    attention_mask, state = get_input_info(policy, step_data)
    # export onnx
    os.makedirs(onnx_model_path, exist_ok=True)
    os.makedirs(os.path.join(onnx_model_path, "eagle2"), exist_ok=True)
    os.makedirs(os.path.join(onnx_model_path, "action_head"), exist_ok=True)

    export_eagle2_vit(
        policy.model.backbone.eagle_model.vision_model.vision_model,
        onnx_model_path,
        vit_dtype=vit_dtype,
        calib_dataset_path=calib_dataset_path or dataset_path,
        modality_configs=modality_config,
        embodiment_tag=embodiment_tag,
        calib_size=calib_size,
        policy=policy,
        denoising_steps=denoising_steps,
        data_config=data_config,
        model_path=model_path,
        video_backend=video_backend,
    )
    export_eagle2_llm(
        policy.model.backbone,
        policy.model.config.backbone_cfg,
        onnx_model_path,
        attention_mask,
        llm_dtype,
        calib_dataset_path=calib_dataset_path or dataset_path,
        modality_configs=modality_config,
        embodiment_tag=embodiment_tag,
        calib_size=calib_size,
        policy=policy,
        denoising_steps=denoising_steps,
        data_config=data_config,
        model_path=model_path,
        video_backend=video_backend,
        full_layer_quant=full_layer_quant,
    )
    export_action_head(
        policy,
        onnx_model_path,
        state,
        attention_mask,
        dit_dtype=dit_dtype,
        calib_dataset_path=calib_dataset_path or dataset_path,
        modality_configs=modality_config,
        embodiment_tag=embodiment_tag,
        calib_size=calib_size,
        denoising_steps=denoising_steps,
        data_config=data_config,
        model_path=model_path,
        video_backend=video_backend,
    )

    return predicted_action


if __name__ == "__main__":
    # Make sure you have logged in to huggingface using `huggingface-cli login` with your nvidia email.
    parser = argparse.ArgumentParser(description="Run Groot Inference")
    parser.add_argument(
        "--dataset-path",
        type=str,
        help="Path to the dataset",
        default=os.path.join(os.getcwd(), "demo_data/robot_sim.PickNPlace"),
    )
    parser.add_argument(
        "--model-path",
        type=str,
        help="Path to the model",
        default="nvidia/GR00T-N1.5-3B",
    )

    parser.add_argument(
        "--onnx-model-path",
        type=str,
        help="Path where the ONNX model will be stored",
        default=os.path.join(os.getcwd(), "gr00t_onnx"),
    )

    parser.add_argument(
        "--data-config",
        type=str,
        help="The name of the data config to use (e.g. fourier_gr1_arms_only, fourier_gr1_arms_waist, unitree_g1, etc.) or a path to a custom data config file",
        default="fourier_gr1_arms_only",
    )

    parser.add_argument(
        "--embodiment-tag",
        type=str,
        help="The embodiment tag for the model (e.g. gr1, g1, so100, etc.)",
        default="gr1",
    )

    parser.add_argument(
        "--llm-dtype",
        type=str,
        choices=["fp16", "nvfp4", "fp8"],
        help="Data type for LLM export (fp16, nvfp4, or fp8 for quantization)",
        default="nvfp4",
    )

    parser.add_argument(
        "--vit-dtype",
        type=str,
        choices=["fp16", "fp8"],
        help="Data type for ViT export (fp16 or fp8 for quantization)",
        default="fp8",
    )

    parser.add_argument(
        "--dit-dtype",
        type=str,
        choices=["fp16", "fp8"],
        help="Data type for DiT (Diffusion Transformer) export (fp16 or fp8 for quantization)",
        default="fp8",
    )

    parser.add_argument(
        "--calib-dataset-path",
        type=str,
        help="Path to the LeRobot dataset for calibration (if different from dataset_path)",
        default=None,
    )

    parser.add_argument(
        "--calib-size",
        type=int,
        help="Number of calibration samples to use",
        default=10,
    )

    parser.add_argument(
        "--denoising-steps",
        type=int,
        help="Number of denoising steps for diffusion model inference",
        default=4,
    )

    parser.add_argument(
        "--video-backend",
        type=str,
        choices=["decord", "torchcodec"],
        help="Video backend to use for loading video frames",
        default="decord",
    )

    parser.add_argument(
        "--full-layer-quant",
        action="store_true",
        help="Enable full layer nvfp4 quantization for LLM (default: False, which disables down_proj and o_proj layers)",
    )

    args = parser.parse_args()

    print(f"Dataset path: {args.dataset_path}")
    print(f"Model path: {args.model_path}")
    print(f"ONNX model path: {args.onnx_model_path}")
    print(f"Data config: {args.data_config}")
    print(f"Embodiment tag: {args.embodiment_tag}")
    print(f"Denoising steps: {args.denoising_steps}")
    print(f"Video backend: {args.video_backend}")
    print(f"LLM data type: {args.llm_dtype}")
    print(f"ViT data type: {args.vit_dtype}")
    print(f"DiT data type: {args.dit_dtype}")
    print(f"Calibration dataset path: {args.calib_dataset_path or args.dataset_path}")
    print(f"Calibration size: {args.calib_size}")
    print(f"Full layer quantization: {args.full_layer_quant}")

    predicted_action = run_groot_inference(
        args.dataset_path,
        args.model_path,
        args.onnx_model_path,
        data_config=args.data_config,
        embodiment_tag=args.embodiment_tag,
        denoising_steps=args.denoising_steps,
        llm_dtype=args.llm_dtype,
        vit_dtype=args.vit_dtype,
        dit_dtype=args.dit_dtype,
        calib_dataset_path=args.calib_dataset_path,
        calib_size=args.calib_size,
        video_backend=args.video_backend,
        full_layer_quant=args.full_layer_quant,
    )

    for key, value in predicted_action.items():
        if isinstance(value, np.ndarray):
            print(f"{key}: {value.shape}")
        else:
            print(f"{key}: {value}")