Openpi

Writing some notes on setting this up for training:

uv run scripts/compute_norm_stats.py --config-name pi05_koch

Run this, and pass it to the lerobotdataset (this in theory should have a default that is pyav, cuz the torchcodec should not be available?? idk)

export LEROBOT_VIDEO_BACKEND=pyav 
export XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 

uv run scripts/train.py pi05_koch --exp-name=tshirt-pickplace-v2 --batch_size=24

• note: if you want to sanity check your data_loader, you can do --num_workers=0, and then breakpoints will workk

Serving policy

uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi05_koch --policy.dir=/home/steven/research/openpi/checkpoints/pi05_koch/tshirt-pickplace-v2/9000/

Troubleshooting

Had to downgrade