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lingangu commited on
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84953a8
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1 Parent(s): 6907608

fix: sw to van. and file path

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Files changed (11) hide show
  1. .gitattributes +1 -0
  2. README.md +42 -5
  3. index.html +86 -19
  4. logs/libero_10.log +11 -0
  5. logs/libero_goal.log +11 -0
  6. logs/libero_object.log +11 -0
  7. logs/libero_spatial.log +11 -0
  8. videos/libero_10.mp4 +3 -0
  9. videos/libero_goal.mp4 +3 -0
  10. videos/libero_object.mp4 +3 -0
  11. videos/libero_spatial.mp4 +3 -0
.gitattributes CHANGED
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  *.zip filter=lfs diff=lfs merge=lfs -text
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  *.zst filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
 
 
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  *.zip filter=lfs diff=lfs merge=lfs -text
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  *.zst filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ *.mp4 filter=lfs diff=lfs merge=lfs -text
README.md CHANGED
@@ -1,12 +1,49 @@
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  ---
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  title: Try Pi05
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- emoji: 📚
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- colorFrom: purple
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- colorTo: gray
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  sdk: static
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  pinned: false
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  license: wtfpl
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- short_description: 试一下lebero
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  ---
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- Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ---
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  title: Try Pi05
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+ emoji: 🖼️
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+ colorFrom: yellow
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+ colorTo: red
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  sdk: static
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  pinned: false
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  license: wtfpl
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+ short_description: 试玩pi0.5里面的4中LEBERO任务
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  ---
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+ # LIBERO single-task demo
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+
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+ Date: 2026-08-25
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+
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+ ## Result
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+
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+ - Checkpoint: `pi05_libero`
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+ - Task suite: `libero_spatial`
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+ - Task id: `9`
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+ - BDDL: `pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl`
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+ - Policy server: existing OpenPI server on `127.0.0.1:8000`
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+ - Result: `done=True` / success
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+ - Rollout: 174 frames, 17.4 seconds at 10 FPS
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+
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+ ## Artifacts
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+
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+ - `videos/single_success.mp4`
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+ - `videos/mid_frame.jpg`
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+ - `logs/single_task.log`
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+ - `libero_config/config.yaml`
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+ - `libero_single_task.py`
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+ - `openpi_libero_helpers.py`
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+
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+ ## Additional suites
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+
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+ - `libero_object`, task 0 (`pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl`): `done=True`, 155 frames, `videos/libero_object_success.mp4`.
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+ - `libero_goal`, task 0 (`open_the_middle_drawer_of_the_cabinet.bddl`): `done=True`, 114 frames, `videos/libero_goal_success.mp4`.
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+ - `libero_10`, task 0 and a retry with task 1: both completed the rollout horizon with `done=False`; the latest result is `videos/libero_10_failure.mp4`. Logs are `logs/libero_10.log` and `logs/libero_10_retry.log`.
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+
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+ ## Environment notes
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+
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+ The official LIBERO source was downloaded from:
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+ `https://github.com/Lifelong-Robot-Learning/LIBERO`
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+
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+ The existing OpenPI source and checkpoint were reused. No OpenPI source files were edited.
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+ The legacy LIBERO init-state loader calls `torch.load` without `weights_only=False`, which fails with the installed PyTorch 2.6 behavior. The runner handles this in its own code with `weights_only=False` for the trusted official init-state file.
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+
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+ The `datasets` directory is not needed for this inference rollout; BDDL files, init states, and simulation assets are present.
index.html CHANGED
@@ -1,19 +1,86 @@
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- <!doctype html>
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- <html>
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- <head>
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- <meta charset="utf-8" />
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- <meta name="viewport" content="width=device-width" />
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- <title>My static Space</title>
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- <link rel="stylesheet" href="style.css" />
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- </head>
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- <body>
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- <div class="card">
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- <h1>Welcome to your static Space!</h1>
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- <p>You can modify this app directly by editing <i>index.html</i> in the Files and versions tab.</p>
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- <p>
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- Also don't forget to check the
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- <a href="https://huggingface.co/docs/hub/spaces" target="_blank">Spaces documentation</a>.
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- </p>
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- </div>
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- </body>
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- </html>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <!DOCTYPE html>
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+ <html lang="zh-CN">
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+ <head>
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+ <meta charset="UTF-8">
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+ <meta name="viewport" content="width=device-width, initial-scale=1.0">
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+ <title>LIBERO Task Videos</title>
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+
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+ <style>
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+ body {
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+ max-width: 1000px;
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+ margin: 40px auto;
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+ padding: 0 20px;
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+ font-family: Arial, sans-serif;
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+ }
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+
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+ .task {
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+ margin-bottom: 40px;
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+ }
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+
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+ video {
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+ width: 100%;
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+ max-width: 400px;
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+ display: block;
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+ margin: 10px 0;
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+ }
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+
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+ a {
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+ display: inline-block;
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+ margin-top: 10px;
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+ }
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+ </style>
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+ </head>
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+
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+ <body>
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+
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+ <h2>LIBERO 每个类别试了一种</h2>
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+
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+ <div class="task">
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+ <h2>libero_spatial</h2>
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+ <p><strong>Prompt:</strong> <code>pick up the black bowl on the wooden cabinet and place it on the plate</code></p>
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+
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+ <video controls>
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+ <source src="videos/libero_spatial.mp4" type="video/mp4">
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+ </video>
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+
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+ <a href="logs/libero_spatial.log" download>下载日志</a>
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+ </div>
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+
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+
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+ <div class="task">
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+ <h2>libero_object</h2>
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+ <p><strong>Prompt:</strong> <code>pick up the alphabet soup and place it in the basket</code></p>
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+
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+ <video controls>
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+ <source src="videos/libero_object.mp4" type="video/mp4">
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+ </video>
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+
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+ <a href="logs/libero_object.log" download>下载日志</a>
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+ </div>
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+
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+
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+ <div class="task">
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+ <h2>libero_goal</h2>
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+ <p><strong>Prompt:</strong> <code>open the middle drawer of the cabinet</code></p>
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+
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+ <video controls>
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+ <source src="videos/libero_goal.mp4" type="video/mp4">
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+ </video>
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+
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+ <a href="logs/libero_goal.log" download>下载日志</a>
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+ </div>
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+
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+
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+ <div class="task">
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+ <h2>libero_10</h2>
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+ <p><strong>Prompt:</strong> <code>put both the alphabet soup and the tomato sauce in the basket</code></p>
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+
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+ <video controls>
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+ <source src="videos/libero_10.mp4" type="video/mp4">
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+ </video>
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+
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+ <a href="logs/libero_10.log" download>下载日志</a>
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+ </div>
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+
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+ </body>
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+ </html>
logs/libero_10.log ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
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+ [robosuite WARNING] No private macro file found! (__init__.py:7)
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+ [robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
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+ [robosuite WARNING] To setup, run: python /data2/xuyunbo/InternNav/.venv-openpi/lib/python3.11/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
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+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
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+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
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+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
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+ INFO:root:Waiting for server at ws://127.0.0.1:8000...
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+ INFO:root:task=put both the alphabet soup and the tomato sauce in the basket task_id=0 done=False frames=220 video=/data2/xuyunbo/xly/0824/videos/libero_10_failure.mp4
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+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
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+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
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+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
logs/libero_goal.log ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (__init__.py:7)
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+ [robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
3
+ [robosuite WARNING] To setup, run: python /data2/xuyunbo/InternNav/.venv-openpi/lib/python3.11/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
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+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ INFO:root:Waiting for server at ws://127.0.0.1:8000...
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+ INFO:root:task=open the middle drawer of the cabinet task_id=0 done=True frames=114 video=/data2/xuyunbo/xly/0824/videos/libero_goal_success.mp4
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+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
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+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
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+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
logs/libero_object.log ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (__init__.py:7)
2
+ [robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
3
+ [robosuite WARNING] To setup, run: python /data2/xuyunbo/InternNav/.venv-openpi/lib/python3.11/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ INFO:root:Waiting for server at ws://127.0.0.1:8000...
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+ INFO:root:task=pick up the alphabet soup and place it in the basket task_id=0 done=True frames=155 video=/data2/xuyunbo/xly/0824/videos/libero_object_success.mp4
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+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
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+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
logs/libero_spatial.log ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (__init__.py:7)
2
+ [robosuite WARNING] It is recommended to use a private macro file (__init__.py:8)
3
+ [robosuite WARNING] To setup, run: python /data2/xuyunbo/InternNav/.venv-openpi/lib/python3.11/site-packages/robosuite/scripts/setup_macros.py (__init__.py:9)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ INFO:root:Waiting for server at ws://127.0.0.1:8000...
8
+ INFO:root:task=pick up the black bowl on the wooden cabinet and place it on the plate task_id=9 done=True frames=174 video=/data2/xuyunbo/xly/0824/videos/single_success.mp4
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+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
11
+ [Warning]: datasets path /data2/xuyunbo/InternNav/.external/openpi-src/third_party/libero/libero/datasets does not exist!
videos/libero_10.mp4 ADDED
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+ size 128834
videos/libero_goal.mp4 ADDED
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