UniVLA
[RSS 2025] Learning to Act Anywhere with Task-centric Latent Actions
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- FUNDING.yml
- lam_stage_1_code_usage.png
- lam_stage_1_mse.png
- lam_stage_2_mse.png
- lam_stage_2_TC_code_usage.png
- lam_stage_2_TI_code_usage.png
- latent-action-pretraining.png
- libero_action_loss.png
- libero_latent_action_acc.png
- real-world-exp_1.png
- teaser_univla.png
- univla-teaser_new.png
- real-world-deployment.md
- room2room.md
- calvin_env_wrapper.py
- calvin_model.py
- run_calvin_eval_ddp.py
- libero_requirements.txt
- libero_utils.py
- regenerate_libero_dataset.py
- run_libero_eval.py
- run_libero_eval_blocking.py
- default.py
- eval_val_unseen.yaml
- nonlearning.yaml
- vlnce_task.yaml
- nonlearning_agents.py
- r2r_utils.py
- run_r2r_eval.py
- univla_model.py
- eval_simpler_bridge_4task.sh
- real2sim_eval_maniskill3.py
- openvla_utils.py
- robot_utils.py
- lam-stage-1.yaml
- lam-stage-2.yaml
- __init__.py
- blocks.py
- lam.py
- dataset.py
- model.py
- main.py
- train.sh
- __init__.py
- datasets.py
- models.py
- vla.py
- __init__.py
- configuration_prismatic.py
- modeling_prismatic.py
- processing_prismatic.py
- __init__.py
- __init__.py
- base_prompter.py
- llama2_chat_prompter.py
- mistral_instruct_prompter.py
- phi_prompter.py
- vicuna_v15_prompter.py
- __init__.py
- base_llm.py
- llama2.py
- mistral.py
- phi.py
- __init__.py
- base_vision.py
- clip_vit.py
- dinoclip_vit.py
- dinosiglip_vit.py
- dinov2_vit.py
- in1k_vit.py
- siglip_vit.py
- __init__.py
- transformer_utils.py
- __init__.py
- openvla.py
- __init__.py
- base_vlm.py
- prismatic.py
- __init__.py
- load.py
- materialize.py
- registry.py
- __init__.py
- overwatch.py
- __init__.py
- datasets.py
- __init__.py
- download.py
- materialize.py
- __init__.py
- base_strategy.py
- ddp.py
- fsdp.py
- __init__.py
- materialize.py
- metrics.py
- __init__.py
- batching_utils.py
- data_utils.py
- nn_utils.py
- torch_utils.py
- droid_utils.py
- __init__.py
- configs.py
- materialize.py
- mixtures.py
- transforms.py
- __init__.py
- data_utils.py
- goal_relabeling.py
- task_augmentation.py
- __init__.py
- dataset.py
- obs_transforms.py
- traj_transforms.py
- __init__.py
- calvin_dataset.py
- datasets.py
- r2r_dataset.py
- real_world_dataset.py
- __init__.py
- action_tokenizer.py
- materialize.py
- __init__.py
- py.typed
- __init__.py
- checksums.tsv
- CITATIONS.bib
- ego4d_dataset_builder.py
- ego4d_dataset_builder_test.py
- README.md
- TAGS.txt
- create_episode_ego4d.py
- environment_macos.yml
- environment_ubuntu.yml
- LICENSE
- preprocess_ego4d.py
- setup.py
- convert_univla_weights_to_hf.py
- finetune_calvin.py
- finetune_libero.py
- finetune_r2r.py
- finetune_realworld.py
- real_world_deployment.py
- train.py
- train.sh
- .gitignore
- LICENSE
- pyproject.toml
- README.md
- requirements.txt
- setup.py
# Use via CDN
jsDelivrjsDelivr serves any public GitHub repository as a CDN with zero setup. Pick a version and a file to get a ready-to-paste link and snippet.
Command Glossary
Commands referenced in this DOCs, explained below.
conda activate
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conda activate
Activate a conda environment.
See also: `conda deactivate`.
conda activate myenv
Activate an existing environment named `myenv`:
conda activate {{path/to/myenv}}
Activate an existing environment located at custom path:
conda activate --stack myenv
Stack `myenv` environment on top of a previous environment making libraries/commands/variables from both accessible:
conda create
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conda create
Create new conda environments.
conda create {{[-y|--yes]}} {{[-n|--name]}} py39 python=3.9 "numpy>=1.11" scipy
Create a new environment named `py39`, install Python 3.9, NumPy v1.11 or above in it, and the latest stable version of SciPy. Say yes to all confirmations:
conda create {{[-n|--name]}} myenv --file {{file1.yml}} --file {{file2.yml}}
Create a new environment named `myenv` and install packages listed in files:
conda create {{[-p|--prefix]}} {{path/to/myenv}}
Create a new environment at a custom path (i.e. prefix):
git clone
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git clone
Clone an existing repository.
git clone {{remote_repository_location}} {{path/to/directory}}
Clone an existing repository into a new directory (the default directory is the repository name):
git clone --recursive {{remote_repository_location}}
Clone an existing repository and its submodules:
git clone {{[-n|--no-checkout]}} {{remote_repository_location}}
Clone only the `.git` directory of an existing repository:
ninja
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ninja
A Build system designed to be fast.
ninja
Build in the current directory:
ninja -j {{4}}
Build in the current directory, executing 4 [j]obs at a time in parallel:
ninja -C {{path/to/directory}}
Build a program in a given directory:
pip install
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pip install
Install Python packages.
pip install {{package1 package2 ...}}
Install one or more packages:
pip install {{package1 package2 ...}} {{[-U|--upgrade]}}
Upgrade all specified packages to the latest version, installing any that are not already present:
pip install {{package}}=={{version}}
Install a specific version of a package:
python
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python
Python language interpreter.
python
Start a REPL (interactive shell):
python {{path/to/file.py}}
Execute a specific Python file:
python -i {{path/to/file.py}}
Execute a specific Python file and start a REPL: