README.md

---
license: apache-2.0
---
# Pi05 official implementation trained on VLABench datasets.
This repository provides the official release of the Pi 0.5 model with the stop-gradient mechanism enabled, 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 `pi05`. 
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 pi05_ft_vlabench_primitive checkpoints/VLABench/pi05-primitive-10task/sg_pi05_base/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 pi05_ft_vlabench_primitive --exp-name=pi05_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    | 0.56          | 0.22          | 0.545             | 0.367             | 0.44               | 0.42               | 0.38            | 0.3           | 0.52             | 0.3            | 0.406  |
| track_2_cross_category     | 0.06          | 0.04          | 0.02            | 0.16            | 0.10               | 0.36               | 0.27             | 0.32            | 0.5             | 0.24             | 0.226   |
| track_3_common_sense       | 0.2           | 0.1          | 0.383               | 0.32            | 0.1               | 0.2               | 0             | 0.24           | 0.2             | 0.06             | 0.18  |
| track_4_semantic_instruction | 0.02           | 0.1          | 0.333               | 0.245            | 0.30               | 0.14               | 0.205               | 0.12           | 0.04             | 0.074             | 0.161  |
| track_6_unseen_texture     | 0.48          | 0.1          | 0.383            | 0.354            | 0.18               | 0.2               | 0.217          | 0.3          | 0.32             | 0.08             | 0.256  |