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--- |
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license: apache-2.0 |
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--- |
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# Pi0 official implementation trained on VLABench datasets. |
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This repository provides the official release of the Pi0 model trained with the whole VLABench's official primitive tasks dataset. |
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## Evaluation |
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To run this checkpoint, please clone this repo: https://github.com/Shiduo-zh/openpi, and checkout to the branch `main`. |
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Assume that you download this checkpoints and put it in the directory `checkpoints`, to run the policy as server, please run: |
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```sh |
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bash vla_bench_scipts/serve_policy.sh pi0_ft_vlabench_primitive checkpoints/VLABench/pi0-primitive-10task/29999/ |
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``` |
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After serving the policy, open another terminal and run: |
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```sh |
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bash vla_bench_scipts/multi_run_vlabench.sh <Your path to store the evaluate results> |
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``` |
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## Train |
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To reproduce the training result, please run the training script with the config `pi05_ft_vlabench_primitive`. |
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```sh |
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XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pi0_ft_vlabench_primitive --exp-name=pi0_ft_vlabench_primitive --overwrite |
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``` |
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Our checkpoint is trained on 8 H100 for 30k iterations, with 5000 episodes data acrossing 10 tasks. |
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## Reference Results |
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The reference success rate of this model is: |
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| Track | add_condiment | insert_flower | select_book | select_chemistry_tube | select_drink | select_fruit | select_mahjong | select_painting | select_poker | select_toy | Avg_SR | |
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|----------------------------|---------------|---------------|-----------------|-----------------|--------------------|--------------------|-----------------|-----------------|-------------------|-------------------|--------| |
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| track_1_in_distribution | 0.66 | 0.18 | 0.694 | 0.52 | 0.52 | 0.38 | 0.25 | 0.46 | 0.54 | 0.5 | 0.47 | |
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| track_2_cross_category | 0.14 | 0.04 | 0.064 | 0.12 | 0.224 | 0.46 | 0.02 | 0.26 | 0.26 | 0.36 | 0.212 | |
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| track_3_common_sense | 0.34 | 0.22 | 0.417 | 0.7 | 0.08 | 0.083 | 0.125 | 0.5 | 0.06 | 0.38 | 0.291 | |
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| track_4_semantic_instruction | 0.26 | 0.02 | 0.311 | 0.06 | 0.1 | 0.06 | 0.12 | 0.56 | 0.12 | 0.12 | 0.173 | |
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| track_6_unseen_texture | 0.56 | 0.1 | 0.714 | 0.28 | 0.44 | 0.30 | 0.02 | 0.3 | 0.28 | 0.18 | 0.322 | |
