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614efbf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 | # Switching Between OpenPI and OpenVLA
This Space supports both OpenPI and OpenVLA backends, but they **cannot run simultaneously** due to dependency conflicts. You can switch between them using an environment variable.
## How to Switch Models
### Option 1: Using Hugging Face Space Settings (Recommended)
1. Go to your Space settings: **Settings → Variables**
2. Add a new **Environment Variable**:
- **Name**: `MODEL_BACKEND`
- **Value**: `openpi` or `openvla`
3. Click **Save**
4. The Space will rebuild with the selected backend
### Option 2: Local Development
Set the environment variable before running:
```bash
# For OpenPI (default)
export MODEL_BACKEND=openpi
bash setup.sh
python app.py
# For OpenVLA
export MODEL_BACKEND=openvla
bash setup.sh
python app.py
```
## What Happens During Build
The `setup.sh` script checks the `MODEL_BACKEND` variable:
- **`MODEL_BACKEND=openpi`** (default):
- Installs PyTorch 2.9+ with cuDNN 9.1+
- Installs lerobot and OpenPI from git
- OpenPI appears in the model dropdown
- **`MODEL_BACKEND=openvla`**:
- Installs PyTorch 2.2.0 with cuDNN 8.9
- Installs OpenVLA from git
- OpenVLA appears in the model dropdown
## Dynamic Model Detection
The app automatically detects which backend is installed:
```python
# In app.py
def _populate_model_registry():
try:
import openpi
# Register OpenPI
except ImportError:
pass
try:
import openvla
# Register OpenVLA
except ImportError:
pass
```
The Gradio interface will only show the models that are actually available.
## Why Can't Both Run Together?
**Dependency Conflict Summary:**
| Package | OpenPI Requirement | OpenVLA Requirement | Conflict |
|---------|-------------------|---------------------|----------|
| torch | >=2.7.0 | ==2.2.0 | ❌ Incompatible |
| nvidia-cudnn-cu12 | >=9.1.1 | ==8.9.2.26 | ❌ Incompatible |
| transformers | ==4.48.1 | ==4.40.1 | ❌ Incompatible |
| draccus | ==0.10.0 | ==0.8.0 | ❌ Incompatible |
When both are installed together, OpenVLA downgrades PyTorch and cuDNN, causing OpenPI's JAX components to fail with:
```
Loaded runtime CuDNN library: 9.0.0 but source was compiled with: 9.1.1
```
See [`DEPENDENCY_CONFLICT.md`](./DEPENDENCY_CONFLICT.md) for detailed technical explanation.
## Testing Locally
```bash
# Test OpenPI
export MODEL_BACKEND=openpi
bash setup.sh
python app.py
# Clean environment
pip uninstall -y openpi lerobot torch torchvision torchaudio
# Test OpenVLA
export MODEL_BACKEND=openvla
bash setup.sh
python app.py
```
## Default Behavior
If `MODEL_BACKEND` is not set, the Space defaults to **OpenPI**.
## Troubleshooting
### Space shows "No model backends available"
- Check build logs for installation errors
- Verify `MODEL_BACKEND` is set correctly
- Ensure `GH_TOKEN` secret is configured for private repos
### Wrong model appears after switching
- Space caching may cause old builds to persist
- Try: **Settings → Factory Reboot**
- Or: Change any other setting to force a full rebuild
### Want to use both models?
Create two separate Spaces:
- `your-space-openpi` with `MODEL_BACKEND=openpi`
- `your-space-openvla` with `MODEL_BACKEND=openvla`
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