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/