File size: 1,107 Bytes
b23769d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | TASK=spatial # or object / goal / 10 / 90
VERSION=21.4
PT_CKPT="checkpoints/openvla_base"
TASK_MODEL_CHECKPOINT="checkpoints/task_models/SF_${TASK}"
REFERENCE_MODEL_CHECKPOINT="checkpoints/reference_models/openvla_oft_libero_${TASK}"
VECTOR_SAVE_PATH="checkpoints/feature_vectors/feature_vector_with_SF_${TASK}_v${VERSION}.pth"
INITIALIZED_PT_VLA_PATH="checkpoints/initialized_pt_vla/initailized_openvla_with_SF_${TASK}_v${VERSION}"
TASK_SUITE_NAME="libero_${TASK}"
python interpolate.py \
--pretrained_checkpoint "$TASK_MODEL_CHECKPOINT" \
--original_pretrained_checkpoint "$REFERENCE_MODEL_CHECKPOINT" \
--vector_save_path "$VECTOR_SAVE_PATH" \
--initialized_pt_vla_path $INITIALIZED_PT_VLA_PATH \
--pt_ckpt $PT_CKPT\
--feature_vector_weight 0.5 \
--task_suite_name $TASK_SUITE_NAME
#the code below is used to transplant the model parameters except for the vla backbone, such as processor and tokenizer, so that the initialized model is complete
rsync -av \
--ignore-existing \
--exclude='*.safetensors' \
--exclude='*.back.*' \
$PT_CKPT/ \
$INITIALIZED_PT_VLA_PATH/
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