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README.md

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+# Coda-Robotics/OpenVLA-ER-Select-Book-LoRA
+
+## Model Description
+
+This is a LoRA adapter weights only (requires base OpenVLA model) of OpenVLA, fine-tuned on the select_book dataset.
+
+## Training Details
+
+- **Dataset:** select_book
+- **Number of Episodes:** 479
+- **Batch Size:** 8
+- **Training Steps:** 20000
+- **Learning Rate:** 2e-5
+- **LoRA Configuration:**
+  - Rank: 32
+  - Dropout: 0.0
+  - Target Modules: all-linear
+
+## Usage
+
+```python
+from transformers import AutoProcessor, AutoModelForVision2Seq
+
+# Load the model and processor
+processor = AutoProcessor.from_pretrained("Coda-Robotics/OpenVLA-ER-Select-Book-LoRA")
+model = AutoModelForVision2Seq.from_pretrained("Coda-Robotics/OpenVLA-ER-Select-Book-LoRA")
+
+# Process an image
+image = ...  # Load your image
+inputs = processor(images=image, return_tensors="pt")
+outputs = model.generate(**inputs)
+text = processor.decode(outputs[0], skip_special_tokens=True)
+```
+
+
+## Using with PEFT
+
+To use this adapter with the base OpenVLA model:
+
+```python
+from transformers import AutoProcessor, AutoModelForVision2Seq
+from peft import PeftModel, PeftConfig
+
+# Load the base model
+base_model = AutoModelForVision2Seq.from_pretrained("openvla/openvla-7b")
+
+# Load the LoRA adapter
+adapter_model = PeftModel.from_pretrained(base_model, "{model_name}")
+
+# Merge weights for faster inference (optional)
+merged_model = adapter_model.merge_and_unload()
+```

adapter_config.json

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+{
+  "alpha_pattern": {},
+  "auto_mapping": {
+    "base_model_class": "OpenVLAForActionPrediction",
+    "parent_library": "transformers_modules.openvla.openvla-7b.31f090d05236101ebfc381b61c674dd4746d4ce0.modeling_prismatic"
+  },
+  "base_model_name_or_path": "openvla/openvla-7b",
+  "bias": "none",
+  "corda_config": null,
+  "eva_config": null,
+  "exclude_modules": null,
+  "fan_in_fan_out": false,
+  "inference_mode": true,
+  "init_lora_weights": "gaussian",
+  "layer_replication": null,
+  "layers_pattern": null,
+  "layers_to_transform": null,
+  "loftq_config": {},
+  "lora_alpha": 16,
+  "lora_bias": false,
+  "lora_dropout": 0.0,
+  "megatron_config": null,
+  "megatron_core": "megatron.core",
+  "modules_to_save": null,
+  "peft_type": "LORA",
+  "r": 32,
+  "rank_pattern": {},
+  "revision": null,
+  "target_modules": [
+    "gate_proj",
+    "v_proj",
+    "qkv",
+    "attn.proj",
+    "o_proj",
+    "q_proj",
+    "fc1",
+    "k_proj",
+    "attn_pool.proj",
+    "fc2",
+    "down_proj",
+    "fc3",
+    "up_proj",
+    "q",
+    "kv"
+  ],
+  "task_type": null,
+  "trainable_token_indices": null,
+  "use_dora": false,
+  "use_rslora": false
+}

adapter_model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bbafa2881d7852f9ae8e5ef39d49f394fb7d08be1b211f9cfbcdadf8cae87083
+size 438387152