pi0

pi0.5

“How can we enable better generalization?” - By training on many surrogate tasks

Training in Lerobot

  python src/lerobot/scripts/lerobot_train.py \
      --dataset.repo_id=Gongsta/koch-tshirt-folding-v3 \
      --dataset.video_backend=pyav \
      --policy.type=pi05 \
      --output_dir=./outputs/pi05_training \
      --job_name=pi05_training \
      --policy.repo_id="Gongsta/pi05-koch-tshirt" \
      --policy.pretrained_path=lerobot/pi05_base \
      --policy.compile_model=true \
      --policy.gradient_checkpointing=true \
      --wandb.enable=true \
      --policy.dtype=bfloat16 \
      --policy.freeze_vision_encoder=false \
      --policy.train_expert_only=false \
      --steps=6000 \
      --save_freq=2000 \
      --policy.device=cuda \
      --batch_size=32 \
      --num_workers=4

python src/lerobot/scripts/lerobot_train.py\
    --dataset.repo_id=Gongsta/koch-tshirt-folding-v3 \
    --policy.type=pi05 \
    --output_dir=./outputs/pi05_training \
    --job_name=pi05_training \
  --policy.repo_id="Gongsta/pi05-koch-tshirt" \
    --policy.pretrained_path=lerobot/pi05_base \
    --policy.compile_model=true \
    --policy.gradient_checkpointing=true \
    --wandb.enable=true \
    --policy.dtype=bfloat16 \
    --policy.freeze_vision_encoder=false \
    --policy.train_expert_only=false \
    --steps=6000 \
    --save_freq=2000 \
    --policy.device=cuda \
    --batch_size=32