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  ---
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  license: apache-2.0
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  ---
 
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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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  ---
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  license: apache-2.0
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  ---
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+ # Pi05 official implementation trained on VLABench datasets.
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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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+
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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 `pi05`.
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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 pi05_ft_vlabench_primitive checkpoints/VLABench/pi05-primitive-10task/sg_pi05_base/29999/
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+ ```
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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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+
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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 pi05_ft_vlabench_primitive --exp-name=pi05_ft_vlabench_primitive --overwrite
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+ ```
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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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+
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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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  |----------------------------|---------------|---------------|-----------------|-----------------|--------------------|--------------------|-----------------|-----------------|-------------------|-------------------|--------|