LeeLiaoLiao/MoLA-ckpt

MoLA Checkpoints

This repository contains pretrained checkpoints for From Imagined Futures to Executable Actions: Mixture of Latent Actions for Robot Manipulation.

Contents

calvin/
  action_model/
    saved_models/
      last.pt
  idms/
    flow.bin
    depth.bin
    semantic.bin

libero/
  action_model/
    libero_spatial/
      last.pt
    libero_object/
      last.pt
    libero_goal/
      last.pt
    libero_10/
      last.pt
  idms/
    flow.bin
    depth.bin
    semantic.bin
  video_model/
    model_index.json
    feature_extractor/
    image_encoder/
    scheduler/
    unet/
    vae/

Usage

Use these checkpoints with the MoLA codebase:

git clone https://github.com/LeeLiaoLiao/MoLA-OpenSource.git

For LIBERO evaluation, pass the corresponding action model directory, video model directory, and suite name:

bash scripts/rollout_libero.sh \
  /path/to/MoLA-ckpt/libero/action_model/libero_10 \
  /path/to/MoLA-ckpt/libero/video_model \
  /path/to/clip-vit-base-patch32 \
  /path/to/LIBERO \
  1 \
  libero_10

For CALVIN evaluation:

bash scripts/rollout_calvin.sh \
  /path/to/MoLA-ckpt/libero/video_model \
  /path/to/MoLA-ckpt/calvin/action_model/saved_models \
  /path/to/clip-vit-base-patch32 \
  /path/to/calvin/task_ABC_D \
  1