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8cbc8de 365b6d8 8cbc8de 886c455 8cbc8de | 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 28 29 30 31 | import os
import argparse
from pathlib import Path
import torch
from PIL import Image
from transformers import AutoModel, AutoProcessor
parser = argparse.ArgumentParser("Huggingface AutoModel Tesing")
parser.add_argument("--model_name_or_path", default=".", help="pretrained model name or path.")
parser.add_argument("--num_images", type=int, default=1, help="num_images for testing.")
args = parser.parse_args()
if __name__ == "__main__":
model_name_or_path = Path(args.model_name_or_path)
processor = AutoProcessor.from_pretrained(args.model_name_or_path, trust_remote_code=True)
print(processor.statistics)
model = AutoModel.from_pretrained(args.model_name_or_path, trust_remote_code=True, torch_dtype=torch.bfloat16).eval().cuda()
image = Image.open("example.png").convert("RGB")
images = [image] * args.num_images
prompt = "What action should the robot take to pick the cup?"
inputs = processor(images=images, text=prompt, unnorm_key="bridge_orig/1.0.0", return_tensors="pt")
print(inputs)
generation_outputs = model.predict_action(inputs)
print(generation_outputs, processor.batch_decode(generation_outputs))
actions = processor.decode_actions(generation_outputs, unnorm_key="bridge_orig/1.0.0")
print(actions)
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