Update README.md

README.md

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----
-license: apache-2.0
----
+---
+license: apache-2.0
+language:
+- en
+base_model:
+- Qwen/Qwen2.5-7B
+- google/siglip2-so400m-patch14-384
+library_name: transformers
+tags:
+- molmoact
+- molmo
+- olmo
+- vla
+- robotics
+- manipulation
+---
+
+# MolmoAct 7B-D Pretrain
+
+MolmoAct is a fully open-source action reasoning model for robotic manipulation developed by the Allen Institute for AI. MolmoAct is trained on a subset of OXE and MolmoAct Dataset, a dataset with 10k high-quality trajectories of a single-arm Franka robot performing 93 unique manipulation tasks in both home and tabletop environments. It has state-of-the-art performance among vision-language-action models on multiple benchmarks with a similar size while being fully open-source. You can find all models in the MolmoAct family [here](https://huggingface.co/collections/allenai/molmoact-689697591a3936fba38174d7).
+**Learn more** about MolmoAct [in our announcement blog post](https://molmo.allenai.org/blog) or the [paper](https://huggingface.co/papers/2409.17146).
+
+MolmoAct 7B-D Pretrain is based on [Qwen2.5-7B](https://huggingface.co/Qwen/Qwen2.5-7B) and uses [SigLip2](https://huggingface.co/google/siglip2-so400m-patch14-384) as vision backbone. 
+
+This checkpoint is a **preview** of the MolmoAct release. All artifacts used in creating MolmoAct (MolmoAct dataset, training code, evaluations, intermediate checkpoints) will be made available at a later date, furthering our commitment to open-source AI development and reproducibility.
+
+Quick links:
+- 💬 [Demo](https://molmo.allenai.org/)
+- 📂 [All Models](https://huggingface.co/collections/allenai/molmo-66f379e6fe3b8ef090a8ca19)
+- 📃 [Paper](https://molmo.allenai.org/paper.pdf)
+- 🎥 [Blog with Videos](https://molmo.allenai.org/blog)
+
+
+## Quick Start
+
+To run MolmoAct, first install dependencies:
+
+```bash
+pip install einops torchvision
+pip install transformers==4.52
+```
+
+Then, follow these steps:
+
+```python
+from transformers import AutoProcessor, AutoModelForImageTextToText
+import torch
+from PIL import Image
+import requests
+
+ckpt = "allenai/MolmoAct-7B-D-Pretrain-0812"
+
+# load the processor
+processor = AutoProcessor.from_pretrained(
+    ckpt,
+    trust_remote_code=True,
+    torch_dtype="auto",
+    device_map="auto",
+    padding_side="left",
+)
+
+# load the model
+model = AutoModelForImageTextToText.from_pretrained(
+    ckpt,
+    trust_remote_code=True,
+    torch_dtype="auto",
+    device_map="auto",
+)
+
+# task instruction
+instruction = "pick up the black bowl on the stove and place it on the plate"
+
+# strictly follow the following reasoning prompt
+prompt = (
+    f"The task is {instruction}. "
+    "What is the action that the robot should take. "
+    f"To figure out the action that the robot should take to {instruction}, "
+    "let's think through it step by step. "
+    "First, what is the depth map for this image? "
+    "Second, what is the trajectory of the end effector? "
+    "Based on the depth map of the image and the trajectory of the end effector, "
+    "what is the action that the robot should take?"
+)
+
+# apply chat template
+text = processor.apply_chat_template(
+    [
+        {
+            "role": "user",
+            "content": [dict(type="text", text=prompt)]
+        }
+    ], 
+    tokenize=False, 
+    add_generation_prompt=True,
+)
+
+# image observation
+img = Image.open("/weka/oe-training-default/jiafeid/oxe-images/images/fractal20220817_data/0000000/0000.png")
+imgs = [img]
+
+# process the image and text
+inputs = processor(
+    images=[imgs],
+    text=text,
+    padding=True,
+    return_tensors="pt",
+)
+
+# move inputs to the correct device
+inputs = {k: v.to(model.device) for k, v in inputs.items()}
+
+# generate output
+with torch.inference_mode():
+    with torch.autocast("cuda", enabled=True, dtype=torch.bfloat16):
+        generated_ids = model.generate(**inputs, max_new_tokens=448)
+
+# only get generated tokens; decode them to text
+generated_tokens = generated_ids[:, inputs['input_ids'].size(1):]
+generated_text = processor.batch_decode(generated_tokens, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
+
+# print the generated text
+print(generated_text)
+
+# >>>  The depth map of the image is ... The trajectory of the end effector is ...
+#      Based on these information, the action that the robot should take is ...
+
+# parse out all depth perception tokens
+depth = model.parse_depth(generated_text)
+print(f"generated depth perception tokens: {depth}")
+
+# >>>  [ <DEPTH_START><DEPTH_1><DEPTH_2>...<DEPTH_END> ]
+
+# parse out all visual reasoning traces
+trace = model.parse_trace(generated_text)
+print(f"generated visual reasoning trace: {trace}")
+
+# >>>  [ [[242, 115], [140, 77], [94, 58], [140, 44], [153, 26]]] ]
+
+# parse out all actions, using unnorm key of fractal20220817_data
+action = model.parse_action(generated_text, unnorm_key="fractal20220817_data")
+print(f"generated action: {action}")
+
+# >>>  [ [0.0732076061122558, 0.08228153779226191, -0.027760173818644346, 
+#         0.15932856272248652, -0.09686601126895233, 0.043916773912953344, 
+#         0.996078431372549] ]
+```
+
+## License and Use
+
+This model is licensed under Apache 2.0. It is intended for research and educational use.
+For more information, please see our [Responsible Use Guidelines](https://allenai.org/responsible-use).
+
+
+## Model and Hardware Safety
+MolmoAct offers the ability to inspect a visual trace of its intended actions in space before they occur, allowing users to ensure safe behavior by proactively auditing and adjusting the actions of any hardware acting under the model’s instructions. MolmoAct’s action space is bounded within the data provided, and compliance is built into the model to prevent excessive force when resistance is detected. Please follow the hardware manufacturer’s guidelines when using this model with a robot and perform all operations in a safely configured environment.