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openvla
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openvla-v01-7b

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Transformers
Safetensors
English
openvla
feature-extraction
robotics
vla
multimodal
pretraining
custom_code
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  2. config.json +2914 -0
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+ ---
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+ library_name: transformers
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+ tags: []
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+ ---
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+
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+ # Model Card for Model ID
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+
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+ <!-- Provide a quick summary of what the model is/does. -->
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+
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+
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+
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+ ## Model Details
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+
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+ ### Model Description
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+
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+ <!-- Provide a longer summary of what this model is. -->
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+
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+ This is the model card of a 🤗 transformers model that has been pushed on the Hub. This model card has been automatically generated.
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+
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+ - **Developed by:** [More Information Needed]
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+ - **Funded by [optional]:** [More Information Needed]
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+ - **Shared by [optional]:** [More Information Needed]
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+ - **Model type:** [More Information Needed]
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+ - **Language(s) (NLP):** [More Information Needed]
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+ - **License:** [More Information Needed]
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+ - **Finetuned from model [optional]:** [More Information Needed]
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+
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+ ### Model Sources [optional]
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+
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+ <!-- Provide the basic links for the model. -->
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+
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+ - **Repository:** [More Information Needed]
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+ - **Paper [optional]:** [More Information Needed]
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+ - **Demo [optional]:** [More Information Needed]
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+
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+ ## Uses
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+
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+ <!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
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+
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+ ### Direct Use
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+
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+ <!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
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+
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+ [More Information Needed]
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+
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+ ### Downstream Use [optional]
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+
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+ <!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
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+
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+ [More Information Needed]
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+
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+ ### Out-of-Scope Use
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+
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+ <!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
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+
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+ [More Information Needed]
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+
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+ ## Bias, Risks, and Limitations
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+
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+ <!-- This section is meant to convey both technical and sociotechnical limitations. -->
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+
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+ [More Information Needed]
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+
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+ ### Recommendations
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+
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+ <!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
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+
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+ Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
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+
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+ ## How to Get Started with the Model
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+
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+ Use the code below to get started with the model.
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+
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+ [More Information Needed]
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+
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+ ## Training Details
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+
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+ ### Training Data
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+
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+ <!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
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+
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+ [More Information Needed]
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+
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+ ### Training Procedure
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+
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+ <!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
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+
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+ #### Preprocessing [optional]
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+
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+ [More Information Needed]
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+
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+
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+ #### Training Hyperparameters
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+
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+ - **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
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+
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+ #### Speeds, Sizes, Times [optional]
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+
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+ <!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
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+
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+ [More Information Needed]
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+
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+ ## Evaluation
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+
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+ <!-- This section describes the evaluation protocols and provides the results. -->
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+
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+ ### Testing Data, Factors & Metrics
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+
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+ #### Testing Data
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+
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+ <!-- This should link to a Dataset Card if possible. -->
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+
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+ [More Information Needed]
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+
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+ #### Factors
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+
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+ <!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
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+
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+ [More Information Needed]
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+
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+ #### Metrics
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+
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+ <!-- These are the evaluation metrics being used, ideally with a description of why. -->
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+
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+ [More Information Needed]
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+
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+ ### Results
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+
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+ [More Information Needed]
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+
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+ #### Summary
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+
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+
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+
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+ ## Model Examination [optional]
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+
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+ <!-- Relevant interpretability work for the model goes here -->
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+
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+ [More Information Needed]
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+
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+ ## Environmental Impact
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+
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+ <!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
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+
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+ Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
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+
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+ - **Hardware Type:** [More Information Needed]
148
+ - **Hours used:** [More Information Needed]
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+ - **Cloud Provider:** [More Information Needed]
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+ - **Compute Region:** [More Information Needed]
151
+ - **Carbon Emitted:** [More Information Needed]
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+
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+ ## Technical Specifications [optional]
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+
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+ ### Model Architecture and Objective
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+
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+ [More Information Needed]
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+
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+ ### Compute Infrastructure
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+
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+ [More Information Needed]
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+
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+ #### Hardware
164
+
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+ [More Information Needed]
166
+
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+ #### Software
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+
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+ [More Information Needed]
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+
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+ ## Citation [optional]
172
+
173
+ <!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
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+
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+ **BibTeX:**
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+
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+ [More Information Needed]
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+
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+ **APA:**
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+
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+ [More Information Needed]
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+
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+ ## Glossary [optional]
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+
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+ <!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
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+
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+ [More Information Needed]
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+
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+ ## More Information [optional]
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+
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+ [More Information Needed]
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+
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+ ## Model Card Authors [optional]
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+
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+ [More Information Needed]
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+
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+ ## Model Card Contact
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+
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+ [More Information Needed]
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+ }
configuration_prismatic.py ADDED
@@ -0,0 +1,140 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """
2
+ configuration_prismatic.py
3
+
4
+ HuggingFace-style configuration definition for Prismatic VLMs, inheriting from `transformers.PretrainedConfig`.
5
+ Default configuration specifies `siglip-224px+7b`.
6
+ """
7
+
8
+ from typing import Any, Dict, List, Optional
9
+
10
+ from transformers import PretrainedConfig
11
+ from transformers.models.auto import CONFIG_MAPPING
12
+
13
+ # === Utilities for Mapping Prismatic names to HF names ===
14
+ # fmt: off
15
+ VISION_BACKBONE_TO_RESOLUTION: Dict[str, List[int]] = {
16
+ "clip-vit-l": [224], "siglip-vit-so400m": [224], "dinov2-vit-l": [224], "in1k-vit-l": [224],
17
+
18
+ "clip-vit-l-336px": [336],
19
+ "siglip-vit-so400m-384px": [384],
20
+
21
+ "dinoclip-vit-l-336px": [336, 336],
22
+ "dinosiglip-vit-so-224px": [224, 224],
23
+ "dinosiglip-vit-so-384px": [384, 384],
24
+ }
25
+ VISION_BACKBONE_TO_TIMM_ID: Dict[str, List[str]] = {
26
+ "clip-vit-l": ["vit_large_patch14_clip_224.openai"],
27
+ "clip-vit-l-336px": ["vit_large_patch14_clip_336.openai"],
28
+
29
+ "dinov2-vit-l": ["vit_large_patch14_reg4_dinov2.lvd142m"],
30
+ "in1k-vit-l": ["vit_large_patch16_224.augreg_in21k_ft_in1k"],
31
+
32
+ "siglip-vit-so400m": ["vit_so400m_patch14_siglip_224"],
33
+ "siglip-vit-so400m-384px": ["vit_so400m_patch14_siglip_384"],
34
+
35
+ "dinoclip-vit-l-336px": ["vit_large_patch14_reg4_dinov2.lvd142m", "vit_large_patch14_clip_336.openai"],
36
+ "dinosiglip-vit-so-224px": ["vit_large_patch14_reg4_dinov2.lvd142m", "vit_so400m_patch14_siglip_224"],
37
+ "dinosiglip-vit-so-384px": ["vit_large_patch14_reg4_dinov2.lvd142m", "vit_so400m_patch14_siglip_384"],
38
+ }
39
+ TIMM_OVERRIDE_ACT_LAYER: Dict[str, List[Optional[str]]] = {
40
+ "clip-vit-l": ["quick_gelu"], "clip-vit-l-336px": ["quick_gelu"],
41
+ "dinov2-vit-l": [None], "in1k-vit-l": [None],
42
+ "siglip-vit-so400m": [None], "siglip-vit-so400m-384px": [None],
43
+ "dinoclip-vit-l-336px": [None, "quick_gelu"],
44
+ "dinosiglip-vit-so-224px": [None, None], "dinosiglip-vit-so-384px": [None, None]
45
+ }
46
+
47
+ LLM_BACKBONE_TO_HF_PATH = {
48
+ "llama2-7b-pure": "meta-llama/Llama-2-7b-hf", "llama2-13b-pure": "meta-llama/Llama-2-13b-hf",
49
+ "llama2-7b-chat": "meta-llama/Llama-2-7b-chat-hf", "llama2-13b-chat": "meta-llama/Llama-2-13b-chat-hf",
50
+
51
+ "vicuna-v15-7b": "lmsys/vicuna-7b-v1.5", "vicuna-v15-13b": "lmsys/vicuna-13b-v1.5",
52
+
53
+ "mistral-v0.1-7b-pure": "mistralai/Mistral-7B-v0.1",
54
+ "mistral-v0.1-7b-instruct": "mistralai/Mistral-7B-Instruct-v0.1",
55
+
56
+ "phi-2-3b": "microsoft/phi-2",
57
+ }
58
+ LLM_BACKBONE_TO_HF_METACLASS = {
59
+ "llama2-7b-pure": "llama", "llama2-13b-pure": "llama", "llama2-7b-chat": "llama", "llama2-13b-chat": "llama",
60
+ "vicuna-v15-7b": "llama", "vicuna-v15-13b": "llama",
61
+
62
+ "mistral-v0.1-7b-pure": "mistral", "mistral-v0.1-7b-instruct": "mistral",
63
+
64
+ "phi-2-3b": "phi",
65
+ }
66
+
67
+ VALID_VISION_BACKBONES = set(VISION_BACKBONE_TO_RESOLUTION.keys())
68
+ VALID_LLM_BACKBONES = set(LLM_BACKBONE_TO_HF_PATH)
69
+ # fmt: on
70
+
71
+
72
+ class PrismaticConfig(PretrainedConfig):
73
+ model_type: str = "prismatic"
74
+ is_composition: bool = False
75
+
76
+ def __init__(
77
+ self,
78
+ vision_backbone_id: str = "siglip-vit-so400m",
79
+ llm_backbone_id: str = "vicuna-v15-7b",
80
+ arch_specifier: str = "no-align+gelu-mlp",
81
+ use_fused_vision_backbone: Optional[bool] = None,
82
+ image_resize_strategy: str = "letterbox",
83
+ text_config: Optional[Dict[str, Any]] = None,
84
+ llm_max_length: int = 2048,
85
+ pad_token_id: int = 32000,
86
+ pad_to_multiple_of: int = 64,
87
+ output_projector_states: bool = False,
88
+ **kwargs: str,
89
+ ) -> None:
90
+ if vision_backbone_id not in VALID_VISION_BACKBONES:
91
+ raise ValueError(f"Vision backbone `{vision_backbone_id}` not in {VALID_VISION_BACKBONES = }")
92
+
93
+ if llm_backbone_id not in VALID_LLM_BACKBONES:
94
+ raise ValueError(f"LLM backbone `{llm_backbone_id}` not in {VALID_LLM_BACKBONES = }")
95
+
96
+ # Set Prismatic Configuration Fields
97
+ self.vision_backbone_id = vision_backbone_id
98
+ self.llm_backbone_id = llm_backbone_id
99
+ self.arch_specifier = arch_specifier
100
+ self.output_projector_states = output_projector_states
101
+
102
+ # [Contract] All vision backbone parameters are lists =>> supports fused backbones with different preprocessing
103
+ self.use_fused_vision_backbone = (
104
+ use_fused_vision_backbone
105
+ if use_fused_vision_backbone is not None
106
+ else any(self.vision_backbone_id.startswith(v) for v in ["dinoclip", "dinosiglip"])
107
+ )
108
+
109
+ self.timm_model_ids = VISION_BACKBONE_TO_TIMM_ID[self.vision_backbone_id]
110
+ self.timm_override_act_layers = TIMM_OVERRIDE_ACT_LAYER[self.vision_backbone_id]
111
+ self.image_sizes = VISION_BACKBONE_TO_RESOLUTION[self.vision_backbone_id]
112
+ self.image_resize_strategy = image_resize_strategy
113
+
114
+ self.hf_llm_id = LLM_BACKBONE_TO_HF_PATH[self.llm_backbone_id]
115
+ self.llm_max_length = llm_max_length
116
+ self.pad_token_id, self.pad_to_multiple_of = pad_token_id, pad_to_multiple_of
117
+
118
+ # [IMPORTANT] HF Utilities actually look for a `text_config` field... we need to use that specific naming!
119
+ self.text_config = (
120
+ CONFIG_MAPPING[LLM_BACKBONE_TO_HF_METACLASS[self.llm_backbone_id]](**text_config)
121
+ if text_config is not None
122
+ else CONFIG_MAPPING[LLM_BACKBONE_TO_HF_METACLASS[self.llm_backbone_id]]()
123
+ )
124
+
125
+ # Dispatch **kwargs to super() =>> note that `pad_token_id` collides, so we pass it in here as well...
126
+ super().__init__(pad_token_id=pad_token_id, **kwargs)
127
+
128
+
129
+ class OpenVLAConfig(PrismaticConfig):
130
+ model_type: str = "openvla"
131
+
132
+ def __init__(
133
+ self,
134
+ norm_stats: Optional[Dict[str, Dict[str, Dict[str, Dict[str, List[float]]]]]] = None,
135
+ n_action_bins: int = 256,
136
+ **kwargs: str,
137
+ ) -> None:
138
+ self.norm_stats, self.n_action_bins = norm_stats, n_action_bins
139
+
140
+ super().__init__(**kwargs)