VAMOS

This is the inference and deployment repo for VAMOS.

Quick Start

Installation

1. Clone the repository:

   git clone git@github.com:vamos-vla/vamos.git
   cd vamos
   

2. Set up the environment:

For a minimal installation, either run:

conda env create -f environment.yml
conda activate vamos

Or directly install the necessary packages with pip or your favorite package manager:

pip3 install torch torchvision transformers peft matplotlib Pillow

If you want to test with ROS (Noetic), run the following instead:

conda env create -f environment_ros.yml
conda activate vamos

We use ROS noetic from RoboStack for better portability.

Quick Test

Test the VLM model with sample images:

python vamos_demo.py

Or use the Jupyter notebook for interactive testing:

jupyter notebook vamos_demo.ipynb

You can access the same notebook on Colab directly from the url at the top of this README.

ROS Package

VAMOS includes a ROS package. For detailed usage and setup instructions, see ROS.md.