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---
license: apache-2.0
---
# Pi0-fast official implementation trained on VLABench datasets.
This repository provides the official release of the Pi0-fast model trained with the whole VLABench's official primitive tasks dataset.
To be noticed, this config corresponds to the relative chunk.
## Evaluation
To run this checkpoint, please clone this repo: https://github.com/Shiduo-zh/openpi, and checkout to the branch `main`.
Assume that you download this checkpoints and put it in the directory `checkpoints`, to run the policy as server, please run:
```sh
bash vla_bench_scipts/serve_policy.sh pifast_ft_vlabench_primitive checkpoints/VLABench/pi0-fast-primitive-10task/29999/
```
After serving the policy, open another terminal and run:
```sh
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 `pifast_ft_vlabench_primitive`.
```sh
XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pifast_ft_vlabench_primitive --exp-name=pi0_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 | 0.42 | 0.04 | 0.28 | 0.16 | 0.082 | 0.38 | 0.24 | 0.48 | 0.58 | 0.24 | 0.291 |
| track_2_cross_category | 0.04 | ? | 0.184 | 0.08 | 0.12 | 0.32 | 0.10 | 0.46 | ? | 0.14 | 0.181 |
| track_3_common_sense | 0.32 | ? | 0.28 | 0.24 | 0.1 | 0.32 | 0.02 | 0.36 | ? | 0.14 | 0.211 |
| track_4_semantic_instruction | 0.24 | ? | 0.17 | 0.14 | 0.12 | 0.32 | 0.12 | 0.44 | ? | 0.1 | 0.199 |
| track_6_unseen_texture | 0.42 | ? | 0.34 | 0.1 | 0.1 | 0.26 | 0.18 | 0.38 | ? | 0.12 |0.236 | |