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README.md
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license: apache-2.0
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license: apache-2.0
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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.
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This checkpoint is trained on 8 H100 for 30k iterations, with 5000 episodes data acrossing 10 tasks.
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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 | 0.56 | 0.22 | 0.545 | 0.367 | 0.44 | 0.42 | 0.38 | 0.3 | 0.52 | 0.3 | 0.406 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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