---
license: apache-2.0
---
# Pi0-fast official implementation trained on VLABench datasets.
This repository provides the official release of the Pi0-fast model trained with the whole VLABench's official primitive tasks dataset.
To be noticed, this config corresponds to the relative chunk.

## 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 pifast_ft_vlabench_primitive checkpoints/VLABench/pi0-fast-primitive-10task/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 `pifast_ft_vlabench_primitive`.
```sh
XLA_PYTHON_CLIENT_MEM_FRACTION=0.95 uv run scripts/train.py pifast_ft_vlabench_primitive --exp-name=pi0_ft_vlabench_primitive --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    | 0.42          | 0.04          | 0.28             | 0.16             | 0.082              | 0.38               | 0.24            | 0.48           | 0.58             | 0.24            | 0.291  |
| track_2_cross_category     | 0.04          | ?          | 0.184            | 0.08            | 0.12               | 0.32               | 0.10             | 0.46            | ?             | 0.14             | 0.181   |
| track_3_common_sense       | 0.32          | ?          | 0.28               | 0.24            | 0.1               | 0.32               | 0.02             | 0.36           | ?             | 0.14             | 0.211  |
| track_4_semantic_instruction | 0.24           | ?          | 0.17               | 0.14            | 0.12               | 0.32               | 0.12               | 0.44           | ?             | 0.1             | 0.199  |
| track_6_unseen_texture     | 0.42          | ?          | 0.34            | 0.1            | 0.1               | 0.26               | 0.18          | 0.38           | ?            | 0.12             |0.236          |