e2vla

Project under refactoring

Checkpoints, evaluation results and videos have been uploaded to google drive:

• Checkpoints: link
• LIBERO scores: link
• LIBERO videos: link

Dependency

Pretrain

1. Dataset Preparation

• Droid

  We use the processed data from cadence/droid_1.0.1 as it has camera extrinsic attached. Download it to anywhere you like, and make a symbolic link to it as ./data_raw/droid_1.0.1. Then run:

  conda activate lerobot
  python data_prepare/process_droid.py \
    --input_root ./data_raw/droid_1.0.1 \
    --alter_vid_root VIDEO_DOWNLOAD_PATH \
    --output_root ./data_converted/droid \
    --skip_saved

  Note:

  • This requires lerobot installed. We use version 0.1.0. You may need to create a new conda environment (e.g. named lerobot) and install the package via:

    pip install "lerobot==0.1.0"

  • The initial downloads of video files may be incomplete (test at 2025/04). We need to download the full video files and place them at VIDEO_DOWNLOAD_PATH. TODO: upload scripts to fix this.

• Maniskill

  First download the data to anywhere you like, e.g.:

  mkdir -p ANYWHERE/maniskill
  gsutil -m cp -r gs://gresearch/robotics/maniskill_dataset_converted_externally_to_rlds/0.1.0 ANYWHERE/maniskill
  ln -s ANYWHERE/maniskill ./data_raw/maniskill

  Then run:

  conda activate tensorflow
  python data_prepare/process_maniskill.py \
    --input_root ./data_raw/maniskill/0.1.0 \
    --output_root ./data_converted/maniskill/0.1.0 \
    --visualize

  Note:

  • This requires tensorflow installed. You may need to create a new conda environment (e.g. named tensorflow) to install it and run the above command to generate data.

• Metaworld

  This doesn't require downloading extra data. However, you may still need to create a new conda environment (e.g. named metaworld-v3) and then install the metaworld package via:

  pip install "metaworld==2.0.0"

  Then run:

  conda activate metaworld-v3
  python data_prepare/process_metaworld.py \
    --output_root ./data_converted/metaworld \
    --visualize \
    --skip_saved

  Note:

  • Although we install "metaworld==2.0.0", it is actually version 3.

If you have downloaded and processed all the data, the file structure would be like this:

data_raw
├── droid_1.0.1
│   ├── README.md
│   ├── data
│   │   ├── chunk-000
│   │   ├── chunk-001
│   │   └── ...
│   ├── meta
│   │   ├── episodes.jsonl
│   │   ├── episodes_stats.jsonl
│   │   ├── info.json
│   │   └── tasks.jsonl
│   └── videos
│       ├── chunk-000
│       ├── chunk-001
│       └── ...
├── libero
│   ├── datasets
│   ├── libero_10
│   │   ├── KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it_demo.hdf5
│   │   ├── KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it_demo.hdf5
│   │   └── ...
│   ├── libero_90
│   │   ├── KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it_demo.hdf5
│   │   ├── KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_demo.hdf5
│   │   └── ...
│   ├── libero_goal
│   │   ├── open_the_middle_drawer_of_the_cabinet_demo.hdf5
│   │   ├── open_the_top_drawer_and_put_the_bowl_inside_demo.hdf5
│   │   └── ...
│   ├── libero_object
│   │   ├── pick_up_the_alphabet_soup_and_place_it_in_the_basket_demo.hdf5
│   │   ├── pick_up_the_bbq_sauce_and_place_it_in_the_basket_demo.hdf5
│   │   └── ...
│   └── ...
└── maniskill
    └── 0.1.0
        ├── dataset_info.json
        ├── features.json
        ├── maniskill_dataset_converted_externally_to_rlds-train.tfrecord-00000-of-01024
        ├── maniskill_dataset_converted_externally_to_rlds-train.tfrecord-00001-of-01024
        └── ...

data_converted
├── drawer
│   ├── 0000.h5
│   ├── 0001.h5
│   └── ...
├── droid
│   ├── data
│   │   ├── chunk-000
│   │   ├── chunk-001
│   │   └── ...
│   └── videos
│       ├── chunk-000
│       ├── chunk-001
│       └── ...
├── libero
│   ├── libero_10_no_noops
│   │   ├── KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it
│   │   ├── KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it
│   │   └── ...
│   ├── libero_90_no_noops (not used in fine-tuning)
│   │   ├── KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet
│   │   ├── KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it
│   │   └── ...
│   ├── libero_goal_no_noops
│   │   ├── open_the_middle_drawer_of_the_cabinet
│   │   ├── open_the_top_drawer_and_put_the_bowl_inside
│   │   └── ...
│   ├── libero_object_no_noops
│   │   ├── pick_up_the_alphabet_soup_and_place_it_in_the_basket
│   │   ├── pick_up_the_bbq_sauce_and_place_it_in_the_basket
│   │   └── ...
│   └── libero_spatial_no_noops
│       ├── pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate
│       ├── pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate
│       └── ...
├── maniskill
│   └── 0.1.0
│       ├── 00000.h5
│       ├── 00001.h5
│       └── ...
├── metaworld
│   ├── assembly-v3
│   │   ├── 0000.h5
│   │   ├── 0001.h5
│   │   └── ...
│   ├── basketball-v3
│   │   ├── 0000.h5
│   │   ├── 0001.h5
│   │   └── ...
│   └── ...
├── oven
│   ├── 0000.h5
│   ├── 0001.h5
│   └── ...
└── pick-place-can
    ├── 0000.h5
    ├── 0001.h5
    └── ...

(1.5) Data Visualization

Visualize the processed data is recommended before training. Run:

python datavis.py {DATASET_NAME}

to visualize the specified dataset. Run python datavis.py -l to list all the available datasets.

2. Start Pre-training

You can use python train.py -h to see the help message. To pretrain on the above three datasets, run:

CUDA_VISIBLE_DEVICES=x python train.py --config pretrain -s EXPERIMENT_NAME

To pretrain on all the datasets mentioned in paper, run:

CUDA_VISIBLE_DEVICES=x python train.py --config pretrain_extra -s EXPERIMENT_NAME

This will save the log to ./logs/E2VLA/EXPERIMENT_NAME and save the checkpoints to ./checkpoints/E2VLA/EXPERIMENT_NAME.

We have uploaded two checkpoints here.

Fine-tune and Evaluation on LIBERO

1. Dataset Preparation

First download the LIBERO dataset to anywhere and then make a symbolink to ./data_raw/libero. Then run

conda activate libero
python data_prepare/process_libero.py \
  --libero_task_suite libero_spatial \
  --libero_raw_data_dir ./data_raw/libero \
  --libero_target_dir ./data_converted/libero \
  --skip_saved \
  --visualize

Change the libero_spatial to [libero_object, libero_goal, libero_10] for finetuning and evaluation on other task-suites.

2. Fine-tuning

For example, if we wnat to fine-tune on libero-10 from pretrained models:

CUDA_VISIBLE_DEVICES=x python train.py \
  --config finetune_libero_10 \
  --pretrained_ckpt ./checkpoints/E2VLA/PRETRAIN_EXP_NAME/ckpt_xxxxxxx.pt \
  -s FINETUNE_EXPERIMENT_NAME

This will load the config and the pre-trained weights. The fine-tuned weights are saved to ./checkpoints/E2VLA/FINETUNE_EXPERIMENT_NAME/. We save the weights every 10k iterations by default.

Finetuned checkpoints can be found here.

3. Evaluation

• First we need to launch the pyro4 naming server (something like roscore). Open a separate terminal and run:

  pyro4-ns

  By default the naming server runs on localhost:9090.

• Launch planning service of your fine-tuned model:

  CUDA_VISIBLE_DEVICES=x python -m infer_utils.remote_service \
    --ckpt ./checkpoints/E2VLA/FINETUNE_EXPERIMENT_NAME/ckpt_xxxxxxx.pt \
    --uri CUSTOM_URI_NAME

• Start evaluation in simulation:

  python -m examples.libero.eval \
    --task_suite libero_10 \
    --uri CUSTOM_URI_NAME \
    --save --video

  The results are saved to ./eval_results/TASK_SUITE/URI/, and the videos are saved to ./eval_videos/TASK_SUITE/URI/

Evaluation results and videos using our fine-tuned checkpoints can be found here and here.

Fine-tune on Own Data