hofee/starvla_benchmark
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

adapt for starvla-dex

Browse Source
This commit is contained in:
QiyangYan
2026-05-08 18:24:31 +08:00
parent 2514cc943d
commit 53796c1e63
3 changed files with 89 additions and 150 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
starvla_inference_server.py
View File

@@ -106,13 +106,14 @@ class StarvlaInferenceServer:
self.parse_observation(observation)
print(f"{state_vec.shape}")
vla_input = {
"batch_images": [[img_left, img_right, img_wrist]],
"instructions": [prompt],
"state": [state_vec]
# "batch_images": [[img_left, img_right, img_wrist]],
"image": [img_left],
"lang": prompt,
"state": state_vec
}
with torch.no_grad():
output = self.model.predict_action(**vla_input)
output = self.model.predict_action(examples=vla_input)
actions = output.get("normalized_actions")
@@ -176,4 +177,4 @@ if __name__ == "__main__":
config_path = args.config
server = StarvlaInferenceServer(config_path)
server.run()
server.run()