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license: mit |
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The following pi0-fast weights were obtained by training on 4 A100 GPUs for 10k iterations using five tasks (2500 episodes) from the primitive-ft-dataset, shared for community reference. |
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The five primitive tasks used to train are: [select_fruit, select_toy, select_painting, select_poker, select_mahjong]. These tasks involve similar skills and simple actions, making them suitable for research on downstream adaptation and generalization abilities. |
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The training codes are available at: https://github.com/Shiduo-zh/openpi. If any issues or bugs are encountered during training, feel free to contact our team. |
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The reference result of this model is: |
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| Track | select_toy_SR | select_toy_PS | select_fruit_SR | select_fruit_PS | select_painting_SR | select_painting_PS | select_poker_SR | select_poker_PS | select_mahjong_SR | select_mahjong_PS | Avg_SR | |
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|----------------------------|---------------|---------------|-----------------|-----------------|--------------------|--------------------|-----------------|-----------------|-------------------|-------------------|--------| |
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| track_1_in_distribution | 0.52 | 0.74 | 0.6 | 0.8 | 0.24 | 0.24 | 0.62 | 0.753 | 0.326 | 0.424 | 0.461 | |
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| track_2_cross_category | 0.24 | 0.58 | 0.54 | 0.77 | 0.22 | 0.22 | 0.2 | 0.24 | 0.049 | 0.098 | 0.25 | |
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| track_3_common_sense | 0.1 | 0.49 | 0 | 0.18 | 0.38 | 0.38 | 0.2 | 0.247 | 0.091 | 0.125 | 0.154 | |
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| track_4_semantic_instruction | 0.1 | 0.47 | 0 | 0.18 | 0.34 | 0.34 | 0 | 0.213 | 0.021 | 0.074 | 0.092 | |
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| track_6_unseen_texture | 0.54 | 0.76 | 0.66 | 0.82 | 0.18 | 0.18 | 0.42 | 0.647 | 0.306 | 0.388 | 0.421 | |
