---
license: apache-2.0
---

# Pi0 official implementation trained on VLABench datasets.
This repository provides the official release of the Pi0 model 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 `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 pi0_ft_vlabench_primitive checkpoints/VLABench/pi0-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 `pi05_ft_vlabench_primitive`.
```sh
XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pi0_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    | 0.66          | 0.18          | 0.694             | 0.52             | 0.52               | 0.38               | 0.25            | 0.46           | 0.54             | 0.5            | 0.47  |
| 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   |
| 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  |
| 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  |
| 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  |