test_huggingface.py

import os
import argparse
from pathlib import Path
import shutil
import os
import argparse
from pathlib import Path
import shutil
import torch
from PIL import Image
from transformers import AutoModel, AutoProcessor

parser = argparse.ArgumentParser("Huggingface AutoModel Tesing")
parser.add_argument("--model_name_or_path", default="", help="pretrained model name or path.")
parser.add_argument("--num_images", type=int, default=1, help="num_images for testing.")

args = parser.parse_args()
if __name__ == "__main__":
    model_name_or_path = Path(args.model_name_or_path)
    processor = AutoProcessor.from_pretrained(args.model_name_or_path, trust_remote_code=True)
    print(processor.statistics)

    model = AutoModel.from_pretrained(args.model_name_or_path, trust_remote_code=True, torch_dtype=torch.bfloat16).eval().cuda()

    image = Image.open("example.png").convert("RGB")
    images = [image] * args.num_images
    prompt = "What action should the robot take to pick the cpu?"
    inputs = processor(images=images, text=prompt, unnorm_key="bridge_orig/1.0.0", return_tensors="pt")
    print(inputs)
    
    generation_outputs = model.predict_action(inputs)
    print(generation_outputs, processor.batch_decode(generation_outputs))

    actions = processor.decode_actions(generation_outputs, unnorm_key="bridge_orig/1.0.0")
    print(actions)