---
license: mit
---
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.

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.

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.


| 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 |
|----------------------------|---------------|---------------|-----------------|-----------------|--------------------|--------------------|-----------------|-----------------|-------------------|-------------------|--------|
| track_1_in_distribution    | 0.34          | 0.6           | 0.44            | 0.67            | 0.24               | 0.24               | 0.22            | 0.387           | 0.25              | 0.417             | 0.298  |
| track_2_cross_category     | 0.16          | 0.45          | 0.48            | 0.67            | 0.12               | 0.12               | 0.14            | 0.227           | 0.143             | 0.204             | 0.209  |
| track_3_common_sense       | 0.28          | 0.54          | 0.24            | 0.4             | 0.18               | 0.18               | 0.04            | 0.193           | 0.064             | 0.064             | 0.161  |
| track_4_semantic_instruction | 0.22          | 0.5           | 0.294           | 0.471           | 0.08               | 0.08               | 0.08            | 0.207           | 0.146             | 0.208             | 0.164  |
| track_6_unseen_texture     | 0.28          | 0.55          | 0.52            | 0.7             | 0.24               | 0.24               | 0.26            | 0.367           | 0.319             | 0.436             | 0.324  |