69 lines
1.6 KiB
Markdown
69 lines
1.6 KiB
Markdown
# Wall-X
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## Overview
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Wall-X is a multimodal foundation model designed for robotics applications, combining vision, language, and action capabilities. The model architecture is built upon Qwen2.5-3B-VL with specialized adaptations for robotic control tasks.
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## Environment Setup
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Create and activate conda environment:
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```bash
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conda create --name wallx python=3.10
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conda activate wallx
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```
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Install requirements:
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```bash
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pip install -r requirements.txt
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MAX_JOBS=4 pip install flash-attn==2.7.4.post1 --no-build-isolation
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```
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Install lerobot:
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```bash
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git clone https://github.com/huggingface/lerobot.git
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cd lerobot
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pip install -e .
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```
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Install wall_x:
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```bash
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git submodule update --init --recursive
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MAX_JOBS=4 pip install --no-build-isolation --verbose .
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```
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## Training
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### Finetune on LeRobot Datasets
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Before training, please refer to `workspace/README.md` for detailed configuration instructions including:
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Training script path configuration
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- GPU setup
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- Model and data paths
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- Robot DOF configuration
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- Training hyperparameters
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```bash
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bash ./workspace/lerobot_example/run.sh
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```
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## Inference
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For model inference, please refer to:
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```bash
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python ./scripts/fake_inference.py
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```
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This script demonstrates how to:
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- Load the Wall-OSS model using `Qwen2_5_VLMoEForAction.from_pretrained()`
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- Prepare input data including proprioceptive information, attention masks, and dataset specifications
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- Run inference in validation mode with proper data types (bfloat16)
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- Validate model outputs and check for numerical stability
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To generate an open-loop comparison plot, please follow:
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```bash
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python ./scripts/draw_openloop_plot.py
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``` |