Skip to content

Port Octo VLA #1831

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
wants to merge 18 commits into
base: main
Choose a base branch
from
Open

Port Octo VLA #1831

wants to merge 18 commits into from
+2,355 −0

Conversation

s1lent4gnt
Copy link
Contributor

@s1lent4gnt s1lent4gnt commented Sep 1, 2025 •
edited
Loading

What this does

Implement Octo VLA policy.

How to fine-tune with LeRobot

lerobot-train --policy.type=octo --dataset.repo_id=lilkm/panda_pick_octo_resized --policy.train_action_head_only=True

TODO

  • Make Octo observation naming LeRobot native.
  • Add other fine-tuning configurations, like adding proprio.

@s1lent4gnt s1lent4gnt mentioned this pull request Sep 1, 2025
Open
3 tasks
@lukicdarkoo
Copy link

lukicdarkoo commented Sep 2, 2025 •
edited
Loading

Nice work! Did you measure performance? How does it compare to other LeRobot policies?

@s1lent4gnt
Copy link
Contributor Author

Thanks @lukicdarkoo, no I didn't measure it performance against other VLAs in LeRobot. I will do it at some point.

@s1lent4gnt
Refactor: Vectorize Octo attention mask creation
68bbe63 
- Replaced nested for-loop attention mask  creation with fully vectorized PyTorch implementation.
- Removed the `TokenMetadata` class from `base.py`.
- Introduced a `RULE_MAP` to convert attention rules to integers for faster processing.
@jadechoghari jadechoghari added enhancement Suggestions for new features or improvements policies Items related to robot policies labels Sep 23, 2025
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
enhancement Suggestions for new features or improvements policies Items related to robot policies
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@s1lent4gnt @lukicdarkoo @jadechoghari