---
license: apache-2.0
---
# Pi0-fast delta action chunk trained on VLABench datasets.
This repository provides the Pi0-fast model trained with the whole VLABench's official primitive tasks dataset.
To be noticed, this config corresponds to the delta chunk, which is state[1:] - state[:-1] instead of state - state[0].

## Evaluation
To run this checkpoint, please clone this repo: https://github.com/Shiduo-zh/openpi, and checkout to the branch `main`. 
Assume that you download this checkpoints and put it in the directory `checkpoints`, to run the policy as server, please run:
```sh
bash vla_bench_scipts/serve_policy.sh pi0_ft_vlabench_primitive_aligned checkpoints/VLABench/pi0-fast-ft-primitive-10task-deltachunk/29999/
```

After serving the policy, open another terminal and run:
```sh
bash vla_bench_scipts/multi_run_vlabench.sh <Your path to store the evaluate results>
```

## Train
To reproduce the training result, please run the training script with the config `pi0_ft_vlabench_primitive_aligned`.
```sh
XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pi0_ft_vlabench_primitive_aligned --exp-name=pi0_ft_vlabench_primitive_aligned --overwrite
```

Our checkpoint is trained on 8 H100 for 30k iterations, with 5000 episodes data acrossing 10 tasks.

## Reference Results
The reference success rate of this model is:
| Track                      | add_condiment | insert_flower | select_book | select_chemistry_tube | select_drink | select_fruit | select_mahjong | select_painting | select_poker | select_toy | Avg_SR |
|----------------------------|---------------|---------------|-----------------|-----------------|--------------------|--------------------|-----------------|-----------------|-------------------|-------------------|--------|
| track_1_in_distribution    | 0.48          | 0.38          | 0.24             | 0.62             | 0.18              | 0.76               | 0.52            | 0.46           | 0.78             | 0.7            | 0.512  |
| track_2_cross_category     | 0.02          | ?          | 0.04            | 0.14            | 0.06               | 0.74               | 0.25             | 0.46            | 0.72             | 0.44             | 0.342   |
| track_3_common_sense       | 0.44          | 0.36          | 0.16               | 0.88            | 0.18               | 0.56               | 0.02             | 0.48           | 0.34             | 0.52             | 0.417  |
| track_4_semantic_instruction | 0.42           | 0.34          | 0.18               | 0.6            | 0.08               | 0.62               | 0.5               | 0.5           | 0.7             | 0.48             | 0.442  |
| track_6_unseen_texture     | 0.56          | 0.32          | 0.24            | 0.52            | 0.24               | 0.6               | 0.36          | 0.38           | 0.54            | 0.58             |0.444          |