Update

README.md

@@ -1,3 +1,65 @@
 ---
 license: apache-2.0
 ---
+
+# Emma-X (7B)
+Model Overview
+
+EMMA-X is an Embodied Multimodal Action (VLA) Model designed to bridge the gap between Visual-Language Models (VLMs) and robotic control tasks. EMMA-X generalizes effectively across diverse environments, objects, and instructions while excelling at long-horizon spatial reasoning and grounded task planning using a novel Trajectory Segmentation Strategy.
+
+•	Hierarchical Embodiment Dataset:
+EMMA-X is trained on a dataset derived from BridgeV2, containing 60,000 robot manipulation trajectories. Trained using a hierarchical dataset with visual grounded chain-of-thought reasoning, EMMA-X's output will include the following components:
+
+Grounded Chain-of-Thought Reasoning:
+Helps break down tasks into smaller, manageable subtasks, ensuring accurate task execution by mitigating hallucination in reasoning.
+
+Gripper Position Guidance: Affordance point inside the image.
+
+Look-Ahead Spatial Reasoning:
+Enables the model to plan actions while considering spatial guidance for effective planning, enhancing long-horizon task performance. 
+
+Action: Action policy in 7-dimensional vector to control the robot ([WidowX-6Dof](https://www.trossenrobotics.com/widowx-250)).
+
+## Model Card
+- **Developed by:** SUTD Declare Lab
+- **Model type:** Vision-language-action (language, image => reasoning, robot actions)
+- **Language(s) (NLP):** en
+- **License:** Apache-2.0
+- **Finetuned from:** [`openvla-7B`](https://huggingface.co/openvla/openvla-7b/)
+- **Pretraining Dataset:** Augmented version of [Bridge V2](https://rail-berkeley.github.io/bridgedata/), for more info check our repository.
+- **Repository:** [https://github.com/declare-lab/Emma-X/](https://github.com/declare-lab/Emma-X/)
+- **Paper:** [Emma-X: An Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial Reasoning]()
+- **Project Page & Videos:** []()
+
+## Getting Started
+```python
+# Install minimal dependencies (`torch`, `transformers`, `timm`, `tokenizers`, ...)
+# > pip install -r https://raw.githubusercontent.com/openvla/openvla/main/requirements-min.txt
+from transformers import AutoModelForVision2Seq, AutoProcessor
+from PIL import Image
+
+import torch
+
+# Load Emma-X
+vla = AutoModelForVision2Seq.from_pretrained(
+    "declare-lab/Emma-X",
+    attn_implementation="flash_attention_2",  # [Optional] Requires `flash_attn`
+    torch_dtype=torch.bfloat16, 
+    low_cpu_mem_usage=True, 
+    trust_remote_code=True
+).to("cuda:0")
+
+# Grab image input & format prompt of size 224x224
+image: Image.Image = get_from_camera(...)
+prompt = "In: What action should the robot take to achieve the instruction\nINSTRUCTION: \n{<Instruction here>}\n\nOut: "
+
+# Predict Action (action is a 7 dimensional vector to control the robot)
+action, grounded_reasoning = vla.generate_actions(
+    image=image, prompt_text=prompt, type="act", do_sample=False,
+    max_new_tokens=512, do_sample=False
+)
+
+print("Grounded Reasoning:", grounded_reasoning)
+# Execute...
+robot.act(action, ...)
+```