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--- |
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license: mit |
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datasets: |
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- IPEC-COMMUNITY/libero_object_no_noops_lerobot |
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language: |
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- en |
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base_model: |
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- Hume-vla/Hume-System2 |
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pipeline_tag: robotics |
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library_name: transformers |
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tags: |
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- VLA |
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--- |
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# Model Card for Hume-Libero_Object |
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<!-- Provide a quick summary of what the model is/does. --> |
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A Dual-System Visual-Language-Action model with System-2 thinking trained on Libero-Object. |
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- Paper: [https://arxiv.org/abs/2505.21432](https://arxiv.org/abs/2505.21432) |
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- Homepage: [https://hume-vla.github.io](https://hume-vla.github.io) |
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- Codebase: [🦾 Hume: A Dual-System VLA with System2 Thinking](https://github.com/hume-vla/hume)  |
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## Optimal TTS Args |
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```bash |
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s2_candidates_num=5 |
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noise_temp_lower_bound=1.0 |
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noise_temp_upper_bound=1.2 |
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time_temp_lower_bound=1.0 |
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time_temp_upper_bound=1.0 |
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``` |
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## Uses |
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<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. --> |
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- If you want to reproduce the results in paper, follow the [instruction](https://github.com/hume-vla/hume/tree/main/experiments/libero) |
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- If you want to directly use the model: |
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```python |
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from hume import HumePolicy |
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import numpy as np |
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# load policy |
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hume = HumePolicy.from_pretrained("/path/to/checkpoints") |
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# config Test-Time Computing args |
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hume.init_infer( |
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infer_cfg=dict( |
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replan_steps=8, |
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s2_replan_steps=16, |
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s2_candidates_num=5, |
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noise_temp_lower_bound=1.0, |
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noise_temp_upper_bound=1.0, |
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time_temp_lower_bound=0.9, |
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time_temp_upper_bound=1.0, |
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post_process_action=True, |
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device="cuda", |
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) |
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) |
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# prepare observations |
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observation = { |
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"observation.images.image": np.zeros((1,224,224,3), dtype = np.uint8), # (B, H, W, C) |
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"observation.images.wrist_image": np.zeros((1,224,224,3), dtype = np.uint8), # (B, H, W, C) |
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"observation.state": np.zeros((1, 7)), # (B, state_dim) |
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"task": ["Lift the papper"], |
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} |
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# Infer the action |
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action = hume.infer(observation) # (B, action_dim) |
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``` |
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## Training and Evaluation Details |
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```bash |
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# source ckpts |
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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 |
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# original logs |
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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 |
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``` |
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## Citation |
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<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. --> |
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```BibTeX |
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@article{song2025hume, |
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title={Hume: Introducing System-2 Thinking in Visual-Language-Action Model}, |
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author={Anonimous Authors}, |
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journal={arXiv preprint arXiv:2505.21432}, |
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year={2025} |
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} |
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``` |
