diff --git a/lerobot/common/policies/dexvla/README.md b/lerobot/common/policies/dexvla/README.md index 4d832c01..75b4171e 100644 --- a/lerobot/common/policies/dexvla/README.md +++ b/lerobot/common/policies/dexvla/README.md @@ -53,6 +53,21 @@ We released our pretrained weights of ScaleDP-H which is trained after Stage1. N | ScaleDP-H (~1B) | [huggingface](https://huggingface.co/lesjie/scale_dp_h) | | ScaleDP-L (~400M) | [huggingface](https://huggingface.co/lesjie/scale_dp_l) | +**❗❗**After downloading the weights, you have to transform it into ``safetensors`` format, you can simply run this code: +~~~python +import torch +from safetensors.torch import save_file +path = "/path/to/open_scale_dp_l_backbone.ckpt" +checkpoint = torch.load(path, map_location=torch.device('cpu'))['nets']['nets'] + +# Save the weights in safetensors format +safetensors_path = "/path/to/open_scale_dp_l_backbone.safetensors" +save_file(checkpoint, safetensors_path) +print(f"Converted {path} to {safetensors_path}") +pass + +~~~ + ## 🦾Train We have already provided pretrained weights of ScaleDP which is stage 1. Belows are mainly about training process of Stage2 and Stage3. @@ -61,7 +76,7 @@ We have already provided pretrained weights of ScaleDP which is stage 1. Belows python lerobot/scripts/train.py \ --policy.type dexvla \ --policy.qwen2_vl_path /path/to/official/Qwen2-VL-2B-Instruct \ ---policy.pretrain_scaledp_path /path/to/pretrained/scale_dp_h/open_scale_dp_l_backbone.ckpt \ +--policy.pretrain_scaledp_path /path/to/pretrained/scale_dp_h/open_scale_dp_l_backbone.safetensors \ --policy.policy_head_size 'scaledp_h' \ --policy.training_stage 2 \ --dataset.repo_i folding_blue_tshirt \