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8aa2acf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 | # evaluation_pi0_pi05
Evaluation code for **π0** and **π0.5** (OpenPI) on ManiSkill robotic manipulation tasks.
This repository contains two branches, one per model family:
| Branch | Model | Source |
|--------|-------|--------|
| `pi0.5` | π0.5 (OpenPI inference) | [yqi19/Openpi_inference](https://github.com/yqi19/Openpi_inference) |
| `pi0` | π0 (OpenPI finetune) | [yqi19/pi0_finetune](https://huggingface.co/yqi19/pi0_finetune) |
---
## Supported Evaluation Tasks
Both branches contain inference/evaluation code for the following ManiSkill experiments:
| Directory | Description |
|-----------|-------------|
| `examples/maniskill/` | General random-attribute ManiSkill evaluation |
| `examples/maniskill_conflict/` | OOD conflict experiment evaluation (factor dominance) |
| `examples/maniskill_attribute/` | Single-attribute pairwise factor evaluations |
| `examples/maniskill_full_factor/` | Full-factor (all_factor) evaluation |
| `examples/maniskill_verb_color_object/` | Verb × color × object 3-factor evaluation |
| `examples/maniskill_verb_size/` | Verb × size 2-factor evaluation |
---
## Branch: `pi0.5`
π0.5 evaluation code using the OpenPI inference server.
### Quickstart
```bash
# 1. Start the policy server (pi0.5)
uv run scripts/serve_policy.py --env MANISKILL \
policy:checkpoint \
--policy.config pi05_maniskill \
--policy.dir <checkpoint_dir>
# 2. Run conflict experiment evaluation
bash examples/maniskill_conflict/run_ood_experiment_inference.sh \
<num_episodes> <results_file>
# 3. Run verb×color×object evaluation
bash examples/maniskill_verb_color_object/run_verb_color_object_inference.sh \
<num_episodes> <results_file>
# 4. Run full-factor evaluation
bash examples/maniskill_full_factor/run_full_factor_inference.sh
# 5. Run all factor evaluations (multi-seed)
bash run_multi_seed_evals.sh
bash scripts/eval_openpi_port8000.sh # port 8000 worker
bash scripts/eval_openpi_port8001.sh # port 8001 worker
```
### VLM Evaluation
```bash
python scripts/vlm_eval_all_conflicts.py
```
---
## Branch: `pi0`
π0 evaluation code.
### Quickstart
```bash
# 1. Start the policy server (pi0)
uv run scripts/serve_policy.py --env MANISKILL \
policy:checkpoint \
--policy.config pi0_maniskill \
--policy.dir <checkpoint_dir>
# 2. Run conflict experiment evaluation
bash run_pi0_conflict_eval.sh
# 3. Run all-factor evaluation scripts
bash eval_all_9_ckpts.sh # all 9 checkpoints
bash eval_all_ckpts.sh # all available checkpoints
bash run_all_3seeds.sh # 3-seed evaluation
# 4. Run full-factor evaluation
bash examples/maniskill_full_factor/run_full_factor_inference.sh
```
### VLM Evaluation
```bash
python vlm_eval_pi0_conflicts.py
```
---
## Notes
- Checkpoint paths must be specified at runtime; no model weights are included in this repo.
- Both branches share the same core `src/openpi/` library and `examples/` structure.
- Evaluation results are written to a path you specify; no results data is committed here.
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