---
library_name: transformers
tags: []
---
# Model Card for Model ID

<!-- Provide a quick summary of what the model is/does. -->



## Model Details

### Model Description

ActionCodec model trained on 5 embodiments:
- franka_libero_20hz_1s
- widowx_bridge_5hz_2s
- franka_droid_15hz_1s
- so100_community_30hz_1s
- franka_vlabench_20hz_1s

### Model Sources [optional]

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TODO

## Uses

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### Direct Use

<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->

```python
import numpy as np
from transformers import AutoModel
np.set_printoptions(suppress=True)
if __name__ == "__main__":
    tokenizer = AutoModel.from_pretrained("ZibinDong/ActionCodec-5e-RVQft", trust_remote_code=True)
    q99 = np.array([0.9375, 0.91071427, 0.9375, 0.20357142, 0.26357144, 0.375, 1.0])
    q01 = np.array([-0.87857145, -0.87589288, -0.9375, -0.15107143, -0.20678571, -0.27964285, 0.0])
    # an example action from physical-intelligence/libero
    action = np.array(
        [
            [0.3268, 0.2089, -0.3295, 0.0000, -0.0868, -0.0611, 1.0000],
            [0.3696, 0.1955, -0.2866, 0.0000, -0.0793, -0.0643, 1.0000],
            [0.3857, 0.1929, -0.2759, 0.0000, -0.0782, -0.0654, 1.0000],
            [0.3964, 0.2089, -0.2786, 0.0000, -0.0761, -0.0654, 1.0000],
            [0.3321, 0.1741, -0.3268, 0.0000, -0.0793, -0.0686, 1.0000],
            [0.2250, 0.0964, -0.4232, 0.0000, -0.0932, -0.0761, 1.0000],
            [0.0723, 0.0000, -0.5625, 0.0000, -0.1339, -0.0879, 1.0000],
            [0.0536, 0.0000, -0.5652, 0.0000, -0.1521, -0.0921, 1.0000],
            [0.0750, 0.0000, -0.5464, 0.0000, -0.1511, -0.0964, 1.0000],
            [0.0723, 0.0000, -0.5411, 0.0000, -0.1414, -0.0986, 1.0000],
            [0.0402, 0.0000, -0.5196, 0.0000, -0.1350, -0.1007, 1.0000],
            [0.0080, 0.0000, -0.4795, 0.0000, -0.1189, -0.1018, 1.0000],
            [0.0000, 0.0000, -0.4527, 0.0000, -0.0986, -0.1018, 1.0000],
            [0.0000, 0.0000, -0.4313, 0.0000, -0.0846, -0.1018, 1.0000],
            [-0.0455, -0.0268, -0.3509, 0.0000, -0.0568, -0.1018, 1.0000],
            [-0.0964, -0.0482, -0.3321, 0.0000, -0.0439, -0.1039, 1.0000],
            [-0.1768, -0.0562, -0.3402, 0.0000, -0.0300, -0.1050, 1.0000],
            [-0.2438, -0.0429, -0.3187, 0.0000, -0.0193, -0.0996, 1.0000],
            [-0.3054, -0.0054, -0.2893, 0.0000, -0.0139, -0.0932, 1.0000],
            [-0.3509, 0.0000, -0.2598, 0.0000, -0.0054, -0.0879, 1.0000],
        ],
    )[None]
    # normalization
    normalized_action = np.copy(action)
    normalized_action[..., :-1] = normalized_action[..., :-1] / np.maximum(np.abs(q99), np.abs(q01))[..., :-1]
    normalized_action[..., -1] = normalized_action[..., -1] * 2.0 - 1.0  # scale to [-1, 1]
    normalized_action = normalized_action.clip(-1.0, 1.0)
    # tokenization
    tokens = tokenizer.encode(normalized_action)  # numpy (b, n, d) -> list of ints
    print(tokens)
    # decoding
    decoded_action, padding_mask = tokenizer.decode(tokens)  # list of ints -> numpy (b, n, d)
    # calculate reconstruction error
    mse_error = np.mean((normalized_action - decoded_action) ** 2)
    l1_error = np.mean(np.abs(normalized_action - decoded_action))
    print(f"Reconstruction MSE error: {mse_error:.6f}")
    print(f"Reconstruction L1 error: {l1_error:.6f}")
```

### Downstream Use [optional]

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TODO

### Out-of-Scope Use

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TODO

## Bias, Risks, and Limitations

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TODO

### Recommendations

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TODO

## How to Get Started with the Model

Use the code below to get started with the model.

TODO

## Training Details

### Training Data

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### Training Procedure

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#### Preprocessing [optional]

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#### Training Hyperparameters

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#### Speeds, Sizes, Times [optional]

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## Evaluation

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### Testing Data, Factors & Metrics

#### Testing Data

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#### Factors

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#### Metrics

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### Results

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#### Summary



## Model Examination [optional]

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## Environmental Impact

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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).

- **Hardware Type:** [More Information Needed]
- **Hours used:** [More Information Needed]
- **Cloud Provider:** [More Information Needed]
- **Compute Region:** [More Information Needed]
- **Carbon Emitted:** [More Information Needed]

## Technical Specifications [optional]

### Model Architecture and Objective

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### Compute Infrastructure

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#### Hardware

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#### Software

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## Citation [optional]

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## Glossary [optional]

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## Model Card Authors [optional]

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## Model Card Contact

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