metadata

license: mit
datasets:
  - IPEC-COMMUNITY/libero_object_no_noops_lerobot
language:
  - en
base_model:
  - Hume-vla/Hume-System2
pipeline_tag: robotics
library_name: transformers
tags:
  - VLA

Model Card for Hume-Libero_Object

A Dual-System Visual-Language-Action model with System-2 thinking trained on Libero-Object.

Paper: https://arxiv.org/abs/2505.21432
Homepage: https://hume-vla.github.io
Codebase: 🦾 Hume: A Dual-System VLA with System2 Thinking

Optimal TTS Args

s2_candidates_num=5
noise_temp_lower_bound=1.0
noise_temp_upper_bound=1.2
time_temp_lower_bound=1.0
time_temp_upper_bound=1.0

Uses

If you want to reproduce the results in paper, follow the instruction

If you want to directly use the model:

from hume import HumePolicy
import numpy as np

# load policy
hume = HumePolicy.from_pretrained("/path/to/checkpoints")

# config Test-Time Computing args
hume.init_infer(
    infer_cfg=dict(
        replan_steps=8,
        s2_replan_steps=16,
        s2_candidates_num=5,
        noise_temp_lower_bound=1.0,
        noise_temp_upper_bound=1.0,
        time_temp_lower_bound=0.9,
        time_temp_upper_bound=1.0,
        post_process_action=True,
        device="cuda",
    )
)

# prepare observations
observation = {
    "observation.images.image": np.zeros((1,224,224,3), dtype = np.uint8), # (B, H, W, C)
    "observation.images.wrist_image": np.zeros((1,224,224,3), dtype = np.uint8), # (B, H, W, C)
    "observation.state": np.zeros((1, 7)), # (B, state_dim)
    "task": ["Lift the papper"],
}

# Infer the action
action = hume.infer(observation) # (B, action_dim)

Training and Evaluation Details

# source ckpts
2025-05-01/19-56-05_libero_object_ck8-16-1_sh-4_gpu8_lr5e-5_1e-5_1e-5_2e-5_bs16_s1600k/0150000
# original logs
2025-06-13/00-18-26+19-56-05_libero_object_ck8-16-1_sh-4_gpu8_lr5e-5_1e-5_1e-5_2e-5_bs16_s1600k_0150000_s1-8_s2-16_s2cand-5_ntl-1.0_ntu-1.2_ttl-1.0_ttu-1.0.log

Citation

@article{song2025hume,
  title={Hume: Introducing System-2 Thinking in Visual-Language-Action Model},
  author={Anonimous Authors},
  journal={arXiv preprint arXiv:2505.21432},
  year={2025}
}