README
Pi05 official implementation trained on VLABench datasets.
This repository provides the official release of the Pi 0.5 model with the stop-gradient mechanism enabled, trained with the whole VLABench's official primitive tasks dataset.
Evaluation
To run this checkpoint, please clone this repo: https://github.com/Shiduo-zh/openpi, and checkout to the branch pi05.
Assume that you download this checkpoints and put it in the directory checkpoints, to run the policy as server, please run:
bash vla_bench_scipts/serve_policy.sh pi05_ft_vlabench_primitive checkpoints/VLABench/pi05-primitive-10task/sg_pi05_base/29999/
After serving the policy, open another terminal and run:
bash vla_bench_scipts/multi_run_vlabench.sh <Your path to store the evaluate results>
Train
To reproduce the training result, please run the training script with the config pi05_ft_vlabench_primitive.
XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pi05_ft_vlabench_primitive --exp-name=pi05_ft_vlabench_primitive --overwrite
Our checkpoint is trained on 8 H100 for 30k iterations, with 5000 episodes data acrossing 10 tasks.
Reference Results
The reference success rate of this model is:
| Track | add_condiment | insert_flower | select_book | select_chemistry_tube | select_drink | select_fruit | select_mahjong | select_painting | select_poker | select_toy | Avg_SR |
|---|---|---|---|---|---|---|---|---|---|---|---|
| track_1_in_distribution | 0.56 | 0.22 | 0.545 | 0.367 | 0.44 | 0.42 | 0.38 | 0.3 | 0.52 | 0.3 | 0.406 |
| track_2_cross_category | 0.06 | 0.04 | 0.02 | 0.16 | 0.10 | 0.36 | 0.27 | 0.32 | 0.5 | 0.24 | 0.226 |
| track_3_common_sense | 0.2 | 0.1 | 0.383 | 0.32 | 0.1 | 0.2 | 0 | 0.24 | 0.2 | 0.06 | 0.18 |
| track_4_semantic_instruction | 0.02 | 0.1 | 0.333 | 0.245 | 0.30 | 0.14 | 0.205 | 0.12 | 0.04 | 0.074 | 0.161 |
| track_6_unseen_texture | 0.48 | 0.1 | 0.383 | 0.354 | 0.18 | 0.2 | 0.217 | 0.3 | 0.32 | 0.08 | 0.256 |
Contributors
5 commits
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README
Pi05 official implementation trained on VLABench datasets.
This repository provides the official release of the Pi 0.5 model with the stop-gradient mechanism enabled, trained with the whole VLABench's official primitive tasks dataset.
Evaluation
To run this checkpoint, please clone this repo: https://github.com/Shiduo-zh/openpi, and checkout to the branch pi05.
Assume that you download this checkpoints and put it in the directory checkpoints, to run the policy as server, please run:
bash vla_bench_scipts/serve_policy.sh pi05_ft_vlabench_primitive checkpoints/VLABench/pi05-primitive-10task/sg_pi05_base/29999/
After serving the policy, open another terminal and run:
bash vla_bench_scipts/multi_run_vlabench.sh <Your path to store the evaluate results>
Train
To reproduce the training result, please run the training script with the config pi05_ft_vlabench_primitive.
XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pi05_ft_vlabench_primitive --exp-name=pi05_ft_vlabench_primitive --overwrite
Our checkpoint is trained on 8 H100 for 30k iterations, with 5000 episodes data acrossing 10 tasks.
Reference Results
The reference success rate of this model is:
| Track | add_condiment | insert_flower | select_book | select_chemistry_tube | select_drink | select_fruit | select_mahjong | select_painting | select_poker | select_toy | Avg_SR |
|---|---|---|---|---|---|---|---|---|---|---|---|
| track_1_in_distribution | 0.56 | 0.22 | 0.545 | 0.367 | 0.44 | 0.42 | 0.38 | 0.3 | 0.52 | 0.3 | 0.406 |
| track_2_cross_category | 0.06 | 0.04 | 0.02 | 0.16 | 0.10 | 0.36 | 0.27 | 0.32 | 0.5 | 0.24 | 0.226 |
| track_3_common_sense | 0.2 | 0.1 | 0.383 | 0.32 | 0.1 | 0.2 | 0 | 0.24 | 0.2 | 0.06 | 0.18 |
| track_4_semantic_instruction | 0.02 | 0.1 | 0.333 | 0.245 | 0.30 | 0.14 | 0.205 | 0.12 | 0.04 | 0.074 | 0.161 |
| track_6_unseen_texture | 0.48 | 0.1 | 0.383 | 0.354 | 0.18 | 0.2 | 0.217 | 0.3 | 0.32 | 0.08 | 0.256 |
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Contributors
5 commits