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khanhnd61/octo-small-so101-multi-task-gguf

sourceHugging Faceapache-2.0updated 2d agoView on Hugging Face

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Model Card

octo-small-so101-multi-task-gguf

Octo-Small as vla.simd GGUF for CPU inference. Each file is self-contained.

File	Converted from
`octo-small-so101-multi-task.gguf`	khanhnd61/octo-small_so101-multi-task-clean

Serve

Install vla.simd with the serve extra, then:

hf download khanhnd61/octo-small-so101-multi-task-gguf --local-dir octo-small-so101-multi-task-gguf
OMP_NUM_THREADS=$CORES vla-simd-serve --model octo \
    --model-dir octo-small-so101-multi-task-gguf/octo-small-so101-multi-task.gguf --port 8080 \
    --cams front,wrist \
    --task "<instruction>"

Rollout

The robot side is lerobot's async client, lerobot-vla-simd:

pip install 'lerobot[async,feetech] @ git+https://github.com/khanhnd61-vr/lerobot@4b33b84296c0880ebce778d69f16a38d33825575'

On the robot, with the arm and both cameras attached:

lerobot-vla-simd --server_address=127.0.0.1:8080 --policy_type=octo \
    --robot.type=so101_follower --robot.port=/dev/ttyACM0 --robot.id=my_arm \
    --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, wrist: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30} }" \
    --actions_per_chunk=4 --chunk_size_threshold=1.0 \
    --task="<instruction>"

Octo sees consecutive frames only when every frame reaches the server, hence --chunk_size_threshold=1.0.