openvla policy intergration pull request

simpler-env · Jul 6, 2024 · e95842c · e95842c
1 parent 8c0a23d
commit e95842c
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/simpler_env/main_inference.py b/simpler_env/main_inference.py
@@ -7,7 +7,7 @@
 from simpler_env.evaluation.maniskill2_evaluator import maniskill2_evaluator
 from simpler_env.policies.octo.octo_server_model import OctoServerInference
 from simpler_env.policies.rt1.rt1_model import RT1Inference
-from simpler_env.policies.openvla.openvla_model import OpenVALInference
+from simpler_env.policies.openvla.openvla_model import OpenVLAInference
 
 try:
     from simpler_env.policies.octo.octo_model import OctoInference
@@ -56,7 +56,7 @@
             )
     elif args.policy_model == "openvla":
         assert args.ckpt_path is not None
-        model = OpenVALInference(
+        model = OpenVLAInference(
             saved_model_path=args.ckpt_path,
             policy_setup=args.policy_setup,
             action_scale=args.action_scale,

diff --git a/simpler_env/policies/openvla/openvla_model.py b/simpler_env/policies/openvla/openvla_model.py
@@ -11,7 +11,7 @@
 import cv2 as cv
 
 
-class OpenVALInference:
+class OpenVLAInference:
     def __init__(
         self,
         saved_model_path: str = "openvla/openvla-7b",
@@ -144,7 +144,7 @@ def step(
                 relative_gripper_action = self.previous_gripper_action - current_gripper_action
             self.previous_gripper_action = current_gripper_action
 
-            if np.abs(relative_gripper_action) > 0.5 and self.sticky_action_is_on is False:
+            if np.abs(relative_gripper_action) > 0.5 and (not self.sticky_action_is_on):
                 self.sticky_action_is_on = True
                 self.sticky_gripper_action = relative_gripper_action