Merge branch 'main' of https://huggingface.co/declare-lab/Emma-X

README.md

@@ -1,65 +1,99 @@
----
-license: apache-2.0
----
-
-# Emma-X (7B)
-Model Overview
-
-EMMA-X is an Embodied Multimodal Action (VLA) Model designed to bridge the gap between Visual-Language Models (VLMs) and robotic control tasks. EMMA-X generalizes effectively across diverse environments, objects, and instructions while excelling at long-horizon spatial reasoning and grounded task planning using a novel Trajectory Segmentation Strategy.
-
-•	Hierarchical Embodiment Dataset:
-EMMA-X is trained on a dataset derived from BridgeV2, containing 60,000 robot manipulation trajectories. Trained using a hierarchical dataset with visual grounded chain-of-thought reasoning, EMMA-X's output will include the following components:
-
-Grounded Chain-of-Thought Reasoning:
-Helps break down tasks into smaller, manageable subtasks, ensuring accurate task execution by mitigating hallucination in reasoning.
-
-Gripper Position Guidance: Affordance point inside the image.
-
-Look-Ahead Spatial Reasoning:
-Enables the model to plan actions while considering spatial guidance for effective planning, enhancing long-horizon task performance. 
-
-Action: Action policy in 7-dimensional vector to control the robot ([WidowX-6Dof](https://www.trossenrobotics.com/widowx-250)).
-
-## Model Card
-- **Developed by:** SUTD Declare Lab
-- **Model type:** Vision-language-action (language, image => reasoning, robot actions)
-- **Language(s) (NLP):** en
-- **License:** Apache-2.0
-- **Finetuned from:** [`openvla-7B`](https://huggingface.co/openvla/openvla-7b/)
-- **Pretraining Dataset:** Augmented version of [Bridge V2](https://rail-berkeley.github.io/bridgedata/), for more info check our repository.
-- **Repository:** [https://github.com/declare-lab/Emma-X/](https://github.com/declare-lab/Emma-X/)
-- **Paper:** [Emma-X: An Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial Reasoning]()
-- **Project Page & Videos:** []()
-
-## Getting Started
-```python
-# Install minimal dependencies (`torch`, `transformers`, `timm`, `tokenizers`, ...)
-# > pip install -r https://raw.githubusercontent.com/openvla/openvla/main/requirements-min.txt
-from transformers import AutoModelForVision2Seq, AutoProcessor
-from PIL import Image
-
-import torch
-
-# Load Emma-X
-vla = AutoModelForVision2Seq.from_pretrained(
-    "declare-lab/Emma-X",
-    attn_implementation="flash_attention_2",  # [Optional] Requires `flash_attn`
-    torch_dtype=torch.bfloat16, 
-    low_cpu_mem_usage=True, 
-    trust_remote_code=True
-).to("cuda:0")
-
-# Grab image input & format prompt of size 224x224
-image: Image.Image = get_from_camera(...)
-prompt = "In: What action should the robot take to achieve the instruction\nINSTRUCTION: \n{<Instruction here>}\n\nOut: "
-
-# Predict Action (action is a 7 dimensional vector to control the robot)
-action, grounded_reasoning = vla.generate_actions(
-    image=image, prompt_text=prompt, type="act", do_sample=False,
-    max_new_tokens=512, do_sample=False
-)
-
-print("Grounded Reasoning:", grounded_reasoning)
-# Execute...
-robot.act(action, ...)
-```
+---
+license: apache-2.0
+datasets:
+- declare-lab/Emma-X-GCOT
+metrics:
+- accuracy
+base_model:
+- openvla/openvla-7b
+pipeline_tag: image-text-to-text
+---
+
+<h1 align="center">✨ 
+<br/>  
+Meet Emma-X, an Embodied Multimodal Action Model 
+<br/>
+✨✨✨
+
+
+</h1>
+
+<div align="center">
+  <img src="https://raw.githubusercontent.com/declare-lab/Emma-X/main/Emma-X.png" alt="Emma-X" width="300" />
+
+<br/>
+
+[![arXiv](https://img.shields.io/badge/arxiv-2412.11974-b31b1b)](https://arxiv.org/abs/2412.11974) [![Emma-X](https://img.shields.io/badge/Huggingface-Emma--X-brightgreen?style=flat&logo=huggingface&color=violet)](https://huggingface.co/declare-lab/Emma-X) [![Static Badge](https://img.shields.io/badge/Demos-declare--lab-brightred?style=flat)](https://declare-lab.github.io/Emma-X/)
+
+
+</div>
+
+## Model Overview
+
+EMMA-X is an Embodied Multimodal Action (VLA) Model designed to bridge the gap between Visual-Language Models (VLMs) and robotic control tasks. EMMA-X generalizes effectively across diverse environments, objects, and instructions while excelling at long-horizon spatial reasoning and grounded task planning using a novel Trajectory Segmentation Strategy. It relies on --
+
+- Hierarchical Embodiment Dataset: Emma-X is trained on a dataset derived from BridgeV2, containing 60,000 robot manipulation trajectories. Trained using a hierarchical dataset with visual grounded chain-of-thought reasoning, EMMA-X's output will include the following components:
+
+- Grounded Chain-of-Thought Reasoning: Helps break down tasks into smaller, manageable subtasks, ensuring accurate task execution by mitigating hallucination in reasoning.
+
+- Gripper Position Guidance: Affordance point inside the image.
+
+- Look-Ahead Spatial Reasoning: Enables the model to plan actions while considering spatial guidance for effective planning, enhancing long-horizon task performance. 
+
+It generates: 
+
+- Action: Action policy in 7-dimensional vector to control the robot ([WidowX-6Dof](https://www.trossenrobotics.com/widowx-250)).
+
+## Model Card
+- **Developed by:** SUTD Declare Lab
+- **Model type:** Vision-language-action (language, image => reasoning, robot actions)
+- **Language(s) (NLP):** en
+- **License:** Apache-2.0
+- **Finetuned from:** [`openvla-7B`](https://huggingface.co/openvla/openvla-7b/)
+- **Pretraining Dataset:** Augmented version of [Bridge V2](https://rail-berkeley.github.io/bridgedata/), for more info check our repository.
+- **Repository:** [https://github.com/declare-lab/Emma-X/](https://github.com/declare-lab/Emma-X/)
+- **Paper:** [Emma-X: An Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial Reasoning](https://arxiv.org/pdf/2412.11974)
+- **Project Page & Videos:** [https://declare-lab.github.io/Emma-X/](https://declare-lab.github.io/Emma-X/)
+
+## Getting Started
+```python
+# Install minimal dependencies (`torch`, `transformers`, `timm`, `tokenizers`, ...)
+# > pip install -r https://raw.githubusercontent.com/openvla/openvla/main/requirements-min.txt
+from transformers import AutoModelForVision2Seq, AutoProcessor
+from PIL import Image
+
+import torch
+
+# Load Emma-X
+vla = AutoModelForVision2Seq.from_pretrained(
+    "declare-lab/Emma-X",
+    attn_implementation="flash_attention_2",  # [Optional] Requires `flash_attn`
+    torch_dtype=torch.bfloat16, 
+    low_cpu_mem_usage=True, 
+    trust_remote_code=True
+).to("cuda:0")
+
+# Grab image input & format prompt of size 224x224
+image: Image.Image = get_from_camera(...)
+prompt = "In: What action should the robot take to achieve the instruction\nINSTRUCTION: \n{<Instruction here>}\n\nOut: "
+
+# Predict Action (action is a 7 dimensional vector to control the robot)
+action, grounded_reasoning = vla.generate_actions(
+    image=image, prompt_text=prompt, type="act", do_sample=False,
+    max_new_tokens=512, do_sample=False
+)
+
+print("Grounded Reasoning:", grounded_reasoning)
+# Execute...
+robot.act(action, ...)
+```
+
+## Citation
+```
+@article{sun2024emma,
+  title={Emma-X: An Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial Reasoning},
+  author={Sun, Qi and Hong, Pengfei and Pala, Tej Deep and Toh, Vernon and Tan, U-Xuan and Ghosal, Deepanway and Poria, Soujanya},
+  journal={arXiv preprint arXiv:2412.11974},
+  year={2024}
+}
+```