Add files using upload-large-folder tool

.gitattributes

@@ -1,5 +1,6 @@
 *.7z filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
 *.bin filter=lfs diff=lfs merge=lfs -text
 *.bz2 filter=lfs diff=lfs merge=lfs -text
 *.ckpt filter=lfs diff=lfs merge=lfs -text
@@ -8,6 +9,8 @@
 *.h5 filter=lfs diff=lfs merge=lfs -text
 *.joblib filter=lfs diff=lfs merge=lfs -text
 *.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
 *.mlmodel filter=lfs diff=lfs merge=lfs -text
 *.model filter=lfs diff=lfs merge=lfs -text
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 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
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+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+models/ROMA-Qwen2.5-Omni-7B/tokenizer.json filter=lfs diff=lfs merge=lfs -text
+tokenizer.json filter=lfs diff=lfs merge=lfs -text

LICENSE

@@ -0,0 +1,201 @@
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README.md

@@ -0,0 +1,119 @@
+---
+license: apache-2.0
+language:
+- en
+base_model:
+- Qwen/Qwen2.5-Omni-7B
+tags:
+- multimodal
+- tactile
+- audio
+- robotics
+- active-perception
+pipeline_tag: text-generation
+---
+
+<h1 align="center">ROMA-7B</h1>
+
+<h3 align="center"><em>I saw, I touched, I understood.</em></h3>
+
+<p align="center">
+  <a href="https://gewu-lab.github.io/ROMA/"><img src="https://img.shields.io/badge/Project-Page-blue" alt="Project Page"></a>
+  <a href="https://arxiv.org/abs/2610.06955"><img src="https://img.shields.io/badge/arXiv-2610.06955-b31b1b" alt="Paper"></a>
+  <a href="https://github.com/GeWu-Lab/ROMA"><img src="https://img.shields.io/badge/Code-GitHub-black" alt="Code"></a>
+  <a href="https://huggingface.co/datasets/GeWu-Lab/ROMA"><img src="https://img.shields.io/badge/%F0%9F%A4%97%20Hugging%20Face-Dataset-yellow" alt="Hugging Face Dataset"></a>
+</p>
+
+This repository hosts the **model checkpoint** of **ROMA: LLM System for Real-World Object-Centric Multi-Sensory Active Perception**. The code, web demo, and usage instructions are in the [GitHub repository](https://github.com/GeWu-Lab/ROMA). The datasets (ROMI-2K and ROMA Bench) are released separately in [GeWu-Lab/ROMA](https://huggingface.co/datasets/GeWu-Lab/ROMA).
+
+## Introduction
+
+Humans build an understanding of the physical world through an active process: when sensory evidence is insufficient, we decide **what** information is missing, **how** to acquire it, and **when** enough evidence has been obtained. Existing multi-sensory robot systems, in contrast, mostly integrate whatever sensory inputs they are given.
+
+**ROMA** is an LLM-based system for **R**eal-World **O**bject-Centric **M**ulti-Sensory **A**ctive Perception. It integrates vision, audio, touch, and force into a *reasoning-interaction-feedback* loop: the LLM identifies the missing evidence and selects the target object, the interaction (`lift`, `press`, `collide`, `shake`, `rotate`, `squeeze`), and the sensory modalities, while a physical interface executes the interaction and returns the multi-sensory feedback.
+
+**ROMA-7B** is the multi-sensory LLM at the core of this system. It is built on [Qwen2.5-Omni-7B](https://huggingface.co/Qwen/Qwen2.5-Omni-7B) and extended with:
+
+- action / modality tokens for choosing interactions and sensory modalities;
+- an audio branch (fine-tuned audio encoder and adapter) for contact sounds;
+- an [AnyTouch 2](https://github.com/GeWu-Lab/AnyTouch2) tactile branch (tactile encoder and adapter).
+
+It is trained with multi-sensory alignment followed by active-perception SFT.
+
+## Performance
+
+Active perception task success rate on ROMA Bench (%). See the paper for the full results.
+
+| Model | ROMA Bench (total) | Real-world execution (total) |
+| :--- | :---: | :---: |
+| GPT-5.4 | 43.5 | 40.2 |
+| Gemini 3.5 Flash | 53.0 | 41.7 |
+| Qwen 2.5-Omni | 22.0 | 23.5 |
+| Qwen 3-Omni | 19.7 | 23.5 |
+| **ROMA-7B** | **72.9** | **61.4** |
+
+## Checkpoint Files
+
+| File | Description |
+| :--- | :--- |
+| `model-0000*-of-00005.safetensors`, `model.safetensors.index.json` | Base Qwen2.5-Omni-7B weights |
+| `anytouch2.pth`, `config-anytouch2.json` | AnyTouch 2 tactile encoder |
+| `audio.bin` | Fine-tuned audio adapter and encoder |
+| `tactile.bin` | Fine-tuned tactile adapter |
+| `ROMA-LLM.bin` | ROMA LLM weights |
+| `config.json`, `generation_config.json`, `preprocessor_config.json`, `chat_template.json`, `spk_dict.pt` | Model, generation, and processor configs |
+| `tokenizer.json`, `tokenizer_config.json`, `vocab.json`, `merges.txt`, `added_tokens.json`, `special_tokens_map.json` | Tokenizer |
+
+## Usage
+
+ROMA-7B cannot be loaded with plain `transformers`: the tactile modality and the extra adapters are loaded by the code in the [GitHub repository](https://github.com/GeWu-Lab/ROMA), in the same order as during training (base Qwen2.5-Omni, tactile encoder, new tokens, audio adapter, tactile adapter, ROMA LLM).
+
+1. Set up the environment following the [Installation](https://github.com/GeWu-Lab/ROMA#installation) section of the GitHub repository.
+
+2. Download this checkpoint:
+
+   ```bash
+   hf download GeWu-Lab/ROMA-7B --repo-type model --local-dir resources/models/ROMA-7B
+   ```
+
+   The demo reads the checkpoint directory from `MODEL_PATH_2_5` in `config/global_name.py`, which defaults to `resources/models/ROMA-7B`. Edit it if you download the checkpoint elsewhere.
+
+3. Launch the web demo:
+
+   ```bash
+   python demo.py --gpu 0 --port 7860
+   ```
+
+   Then open `http://localhost:7860`, type a question (or pick an example), and press **Ask ROMA**.
+
+The full checkpoint is about 39 GB on disk.
+
+## Related Resources
+
+- **ROMI-2K** ([dataset](https://huggingface.co/datasets/GeWu-Lab/ROMA)): a real-world multi-sensory object interaction dataset covering nearly 2,000 objects and 6 atomic interactions with synchronized visual, audio, tactile, and force feedback.
+- **ROMA Bench**: 2,100 scene-level tasks (single-chain, multi-chain, and intent-driven) for evaluating active perception. (Coming Soon!)
+
+The datasets are hosted in a separate repository, [GeWu-Lab/ROMA](https://huggingface.co/datasets/GeWu-Lab/ROMA), and are not included in this model repository. See the [project page](https://gewu-lab.github.io/ROMA/) and the [GitHub repository](https://github.com/GeWu-Lab/ROMA) for details.
+
+## License
+
+This model is released under the Apache 2.0 license (see `LICENSE`), following its base model Qwen2.5-Omni-7B.
+
+## Citation
+
+If you find this work useful, please consider citing:
+
+```bibtex
+@article{feng2026roma,
+  title   = {ROMA: LLM System for Real-World Object-Centric Multi-Sensory Active Perception},
+  author  = {Feng, Ruoxuan and Chen, Yutong and Song, Ruihua and Yang, Huan and
+             Wang, Zhongyuan and Yao, Guocai and Hu, Di},
+  journal = {arXiv preprint arXiv:2610.06955},
+  url     = {https://arxiv.org/abs/2610.06955},
+  year    = {2026}
+}
+```
+
+## Acknowledgements
+
+ROMA builds on [Qwen2.5-Omni](https://github.com/QwenLM/Qwen2.5-Omni), [AnyTouch 2](https://github.com/GeWu-Lab/AnyTouch2), and [AnyGrasp](https://github.com/graspnet/anygrasp_sdk). We thank the authors for their open-source contributions.

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chat_template.json

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+  "chat_template": "{% set audio_count = namespace(value=0) %}{% set image_count = namespace(value=0) %}{% set video_count = namespace(value=0) %}{% for message in messages %}{% if loop.first and message['role'] != 'system' %}<|im_start|>system\nYou are a helpful assistant.<|im_end|>\n{% endif %}<|im_start|>{{ message['role'] }}\n{% if message['content'] is string %}{{ message['content'] }}<|im_end|>\n{% else %}{% for content in message['content'] %}{% if content['type'] == 'image' or 'image' in content or 'image_url' in content %}{% set image_count.value = image_count.value + 1 %}{% if add_vision_id %}Picture {{ image_count.value }}: {% endif %}<|vision_bos|><|IMAGE|><|vision_eos|>{% elif content['type'] == 'audio' or 'audio' in content or 'audio_url' in content %}{% set audio_count.value = audio_count.value + 1 %}{% if add_audio_id %}Audio {{ audio_count.value }}: {% endif %}<|audio_bos|><|AUDIO|><|audio_eos|>{% elif content['type'] == 'video' or 'video' in content %}{% set video_count.value = video_count.value + 1 %}{% if add_vision_id %}Video {{ video_count.value }}: {% endif %}<|vision_bos|><|VIDEO|><|vision_eos|>{% elif 'text' in content %}{{ content['text'] }}{% endif %}{% endfor %}<|im_end|>\n{% endif %}{% endfor %}{% if add_generation_prompt %}<|im_start|>assistant\n{% endif %}"
+}

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generation_config.json

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+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "pad_token": {
+    "content": "<|endoftext|>",
+    "lstrip": false,
+    "normalized": false,
+    "rstrip": false,
+    "single_word": false
+  },
+  "image_token": "<|IMAGE|>",
+  "audio_token": "<|AUDIO|>",
+  "video_token": "<|VIDEO|>",
+  "vision_bos_token": "<|vision_bos|>",
+  "vision_eos_token": "<|vision_eos|>",
+  "audio_bos_token": "<|audio_bos|>",
+  "audio_eos_token": "<|audio_eos|>"
+}

spk_dict.pt

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+size 259544

tactile.bin

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+size 5513742

tokenizer.json

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+oid sha256:8441917e39ae0244e06d704b95b3124795cec478e297f9afac39ba670d7e9d99
+size 11421870

tokenizer_config.json

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+{
+  "add_prefix_space": false,
+  "added_tokens_decoder": {
+    "151643": {
+      "content": "<|endoftext|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151644": {
+      "content": "<|im_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151645": {
+      "content": "<|im_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151646": {
+      "content": "<|AUDIO|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151647": {
+      "content": "<|audio_bos|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151648": {
+      "content": "<|audio_eos|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151649": {
+      "content": "<|box_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151650": {
+      "content": "<|quad_start|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151651": {
+      "content": "<|quad_end|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
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+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151653": {
+      "content": "<|vision_eos|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151654": {
+      "content": "<|vision_pad|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151655": {
+      "content": "<|IMAGE|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "151656": {
+      "content": "<|VIDEO|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
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+      "content": "<tool_call>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
+    "151658": {
+      "content": "</tool_call>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
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+      "content": "<|fim_prefix|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
+    "151660": {
+      "content": "<|fim_middle|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
+    "151661": {
+      "content": "<|fim_suffix|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
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+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
+    "151663": {
+      "content": "<|repo_name|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    },
+    "151664": {
+      "content": "<|file_sep|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": false
+    }
+  },
+  "additional_special_tokens": [
+    "<|im_start|>",
+    "<|im_end|>",
+    "<|AUDIO|>",
+    "<|audio_bos|>",
+    "<|audio_eos|>",
+    "<|box_end|>",
+    "<|quad_start|>",
+    "<|quad_end|>",
+    "<|vision_bos|>",
+    "<|vision_eos|>",
+    "<|vision_pad|>",
+    "<|IMAGE|>",
+    "<|VIDEO|>"
+  ],
+  "bos_token": null,
+  "chat_template": "{% set audio_count = namespace(value=0) %}{% set image_count = namespace(value=0) %}{% set video_count = namespace(value=0) %}{% for message in messages %}{% if loop.first and message['role'] != 'system' %}<|im_start|>system\nYou are a helpful assistant.<|im_end|>\n{% endif %}<|im_start|>{{ message['role'] }}\n{% if message['content'] is string %}{{ message['content'] }}<|im_end|>\n{% else %}{% for content in message['content'] %}{% if content['type'] == 'image' or 'image' in content or 'image_url' in content %}{% set image_count.value = image_count.value + 1 %}{% if add_vision_id %}Picture {{ image_count.value }}: {% endif %}<|vision_bos|><|IMAGE|><|vision_eos|>{% elif content['type'] == 'audio' or 'audio' in content or 'audio_url' in content %}{% set audio_count.value = audio_count.value + 1 %}{% if add_audio_id %}Audio {{ audio_count.value }}: {% endif %}<|audio_bos|><|AUDIO|><|audio_eos|>{% elif content['type'] == 'video' or 'video' in content %}{% set video_count.value = video_count.value + 1 %}{% if add_vision_id %}Video {{ video_count.value }}: {% endif %}<|vision_bos|><|VIDEO|><|vision_eos|>{% elif 'text' in content %}{{ content['text'] }}{% endif %}{% endfor %}<|im_end|>\n{% endif %}{% endfor %}{% if add_generation_prompt %}<|im_start|>assistant\n{% endif %}",
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<|im_end|>",
+  "errors": "replace",
+  "extra_special_tokens": {
+    "image_token": "<|IMAGE|>",
+    "audio_token": "<|AUDIO|>",
+    "video_token": "<|VIDEO|>",
+    "vision_bos_token": "<|vision_bos|>",
+    "vision_eos_token": "<|vision_eos|>",
+    "audio_bos_token": "<|audio_bos|>",
+    "audio_eos_token": "<|audio_eos|>"
+  },
+  "model_max_length": 32768,
+  "pad_token": "<|endoftext|>",
+  "processor_class": "Qwen2_5OmniProcessor",
+  "split_special_tokens": false,
+  "tokenizer_class": "Qwen2Tokenizer",
+  "unk_token": null,
+  "image_token": "<|IMAGE|>",
+  "audio_token": "<|AUDIO|>",
+  "video_token": "<|VIDEO|>",
+  "vision_bos_token": "<|vision_bos|>",
+  "vision_eos_token": "<|vision_eos|>",
+  "audio_bos_token": "<|audio_bos|>",
+  "audio_eos_token": "<|audio_eos|>"
+}